From 49b8acc860bdf5c2f0f18f8d62afd905c1682a1b Mon Sep 17 00:00:00 2001 From: David Date: Mon, 15 Sep 2025 11:43:22 -0500 Subject: [PATCH] feat: control wrist yaw and roll at same time Also made start_rosbag.sh actually executable ._. --- auto_start/start_rosbag.sh | 0 src/arm_pkg/arm_pkg/arm_node.py | 11 +++++------ 2 files changed, 5 insertions(+), 6 deletions(-) mode change 100644 => 100755 auto_start/start_rosbag.sh diff --git a/auto_start/start_rosbag.sh b/auto_start/start_rosbag.sh old mode 100644 new mode 100755 diff --git a/src/arm_pkg/arm_pkg/arm_node.py b/src/arm_pkg/arm_pkg/arm_node.py index 6b838d2..66e2044 100644 --- a/src/arm_pkg/arm_pkg/arm_node.py +++ b/src/arm_pkg/arm_pkg/arm_node.py @@ -237,15 +237,13 @@ class SerialRelay(Node): command += "can_relay_tovic,arm,39," + str(axis0) + "," + str(axis1) + "," + str(axis2) + "," + str(axis3) + "\n" #Send controls for end effector - command += "can_relay_tovic,digit,35," + str(msg.effector_roll) + "\n" - - - command += "can_relay_tovic,digit,36,0," + str(msg.effector_yaw) + "\n" + # command += "can_relay_tovic,digit,35," + str(msg.effector_roll) + "\n" + # command += "can_relay_tovic,digit,36,0," + str(msg.effector_yaw) + "\n" + command += "can_relay_tovic,digit,39," + str(msg.effector_yaw) + "," + str(msg.effector_roll) + "\n" command += "can_relay_tovic,digit,26," + str(msg.gripper) + "\n" - command += "can_relay_tovic,digit,28," + str(msg.laser) + "\n" command += "can_relay_tovic,digit,34," + str(msg.linear_actuator) + "\n" @@ -260,7 +258,7 @@ class SerialRelay(Node): output.data = msg self.anchor_pub.publish(output) elif self.launch_mode == 'arm': #if in standalone mode, send to MCU directly - self.get_logger().info(f"[Arm to MCU] {msg.data}") + self.get_logger().info(f"[Arm to MCU] {msg}") self.ser.write(bytes(msg, "utf8")) def anchor_feedback(self, msg: String): @@ -286,6 +284,7 @@ class SerialRelay(Node): parts = msg.data.split(",") if len(parts) >= 4: self.digit_feedback.wrist_angle = float(parts[3]) + # self.digit_feedback.wrist_roll = float(parts[4]) else: return