Arm visualiser

arm_control/src/arm_controller.py

@@ -8,9 +8,8 @@
 from rclpy.node import Node
 import math
 from msg_interface.msg import ArmControllerInput
-from std_msgs.msg import Float32MultiArray
 from arm_kinematics import jointLowerLimits, jointUpperLimits
-from std_msgs.msg import String
+from std_msgs.msg import Float32MultiArray, String
 
 
 class Node_ArmControl(Node):
@@ -72,13 +71,18 @@ def __init__(self):
         self.timer = self.create_timer(timer_period, self.run)
 
     def run(self):
+        self.get_logger().debug("Running Arm Control Node")
         cmd_brushed = Float32MultiArray()
         cmd_brushless = Float32MultiArray()
+        msg_q = Float32MultiArray()
 
         q_dDeg = tuple(q_d_i * (180 / np.pi) for q_d_i in self.q_d)
         cmd_brushed.data = [self.claw_state, q_dDeg[4], q_dDeg[3]]
-        cmd_brushless.data = [q_dDeg[2], q_dDeg[1], q_dDeg[0]]
+        #cmd_brushless.data = [q_dDeg[2], q_dDeg[1], q_dDeg[0]]
+        cmd_brushless.data = [10, 20, 30]
+        msg_q.data = self.q
 
+        self.get_logger().debug("Publishing on /arm_joint_states_2d: " + str(msg_q.data))
         self.armBrushedPublisher.publish(cmd_brushed)
         self.armBrushlessPublisher.publish(cmd_brushless)
 
@@ -262,9 +266,10 @@ def displayError(self, msg: str):
 
 def main(args = None):
     rclpy.init(args=args)
+    print("Starting Arm Control Node")
     driver = Node_ArmControl()
     rclpy.spin(driver)
 
-if __name__ == "__main__":
+if __name__ == '__main__':
     main()
     #rospy.spin()

package.json

@@ -5,5 +5,8 @@
     "axios": "^1.7.9",
     "postcss": "^8.5.1",
     "tailwindcss": "^4.0.2"
+  },
+  "devDependencies": {
+    "typescript": "^5.8.3"
   }
 }