[arm] New Arm Control #264
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* Deleted files which I believe we do not need anymore * readded urc scripts * linting
* Added twist mux in launch, need to remap topics * zero cmd vel node * twist mux * twist mux integration * fix twist mux version * remove zero cmd vel node * add twist mux to physical bringup * remove twist mux fork * custom twist mux implementation * added twist mux to bringup * linting --------- Co-authored-by: davidcalderon03 <[email protected]>
* small cleanup * smaller cleanup
* imu node * fix submodule * added angular velocity and linear acceleration * change topic * edited launch file * Launch file fully functional now * removed the build, install and log files from the src folder * removed redundant line * removed imu parser, removed unncessary enu file * Fixed linting errors * bugfixes on launch file * final merge fixes --------- Signed-off-by: David Calderon <[email protected]> Co-authored-by: davidcalderon03 <[email protected]> Co-authored-by: Mrinal Jain <[email protected]>
* launch heartbeat in physical bringup * added rosbridge to simulation
* remove duplicate twist mux * use correct parameters
* adjust to 4w drivetrain * remove mid velocity from ros2 control xacro * fixes * fixes * fixes * fixes * fix teensy ip address * fix protos * fix protos * fixes --------- Co-authored-by: justinE <[email protected]>
* switch to binded udp server * minor fix * read motor feedback * fix controller config * fix drivetrain speed feedback * calibrate drivetrain response * fix wheel separation * calibrate drivetrain response * formatting
… to gazebo simulation (#245)
* add ekf_navsat.yaml * added launch file * add navsat_trans yaml & launch file * Updated ekf yaml file and ekf launch file * add ned_to_enu cpp file * add ned_to_enu file * Remove map-to-odom coordinate frame transforms because they shouldn't exist here. * Implementing navsat and ekf in sim * Change frame header from gps to base_link * remove install log * remove unecessary files * updated launch file to include ekf/navsat * ekf launching * Updated ekf and navsat * Implemented dual ekf in ekf.yaml * Made launch files for ekf_map, ekf_odom, navsat * :wq :q q wq * Remapping topics (it still doesn't work...) * All publishers and subscriptions work between dual ekf and navsat * Removed unecessary example files * adjust covariance - note, it still doesn't work * Attempting to fix imu -> navsat link * change navsat to run after ekf_odom * More work on ekf debugging * working dual ekf * testing covariance matrics * Gravitational acceleration will now not be ignored * Gravity doesnt work * Attempting to fine-tune ekf * remove drift from sim imu * fixes in ekf config * fixes in ekf config * 2D mode * fixes in ekf config * fix odom input for navsat transform * local ekf working (odom -> base_link transform * global ekf not exploding * fix behavior tree * remove urc_test * minor fixes * Real Time Kinematics (RTK) with Ublox ZEDF9P (#239) * ublox gps config * different ublox driver * finalize ublox package * fix launch file * cleanup unnecessary file * code formatting * Delete .DS_Store Signed-off-by: Shaya Farahmand <[email protected]> * Delete urc_bringup/.DS_Store Signed-off-by: Shaya Farahmand <[email protected]> * Delete urc_localization/.DS_Store Signed-off-by: Shaya Farahmand <[email protected]> * add ekf to bringup * undo empty changes to urc_arm (???) * undo empty changes to urc_hw_description (???) * fix typo * remove dupicate twist mux caused by merge * cleaning + linting * linting --------- Signed-off-by: Shaya Farahmand <[email protected]> Co-authored-by: shayaf84 <[email protected]> Co-authored-by: mazam32 <[email protected]> Co-authored-by: Ampers8nd <[email protected]> Co-authored-by: Rick Lee <[email protected]> Co-authored-by: Mrinal Jain <[email protected]> Co-authored-by: Shaya Farahmand <[email protected]>
* Made a new feat/bringup_scripts branch and improved launch files (not finished yet) * Modifying launch files to make them work with XBox controller * Fixed linear/angular velocity topics for joystick_driver * Fix parameters for velocity * Removed redundant joy_drive node * Changed topic to cmd_vel_teleop * Fixed error that capped velocity to +/- 1 * base station gps in launch file * Published time stamps for sec and nanosec * base station gps in launch file * Reformatted code * remove autonomy launch * python linting --------- Co-authored-by: Mrinal Jain <[email protected]>
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One quick thing—I think this PR picked up a lot of unrelated changes. You might have to rebase against the latest version of |
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Description
This PR does the following:
Testing Steps (if relevant)
Check README.md inside urc_arm_py.
Test Case 1
Test Case 2
Expectation: You should see the arm move in the MuJoCo simulation and the command output change inside the /qp_ctrl/pos_ctrl topic.