feat: add Tristan's IK with ikpy (#15 ik_dev)

Add IK (Tristan's work)
Slow, but works. Takes a 3d displacement vector in meters for direction that the arm should be moving. Provides target joint angles that embedded drives the axes to.

src/anchor_pkg/anchor_pkg/anchor_node.py

@@ -7,6 +7,7 @@ import time
 import atexit
 
 import serial
+import os
 import sys
 import threading
 import glob
@@ -45,6 +46,7 @@ class SerialRelay(Node):
                     #(f"Checking port {port}...")
                     ser.write(b"ping\n")
                     response = ser.read_until("\n")
+                    ser.write(b"can_relay_mode,on\n")
 
                     # if pong is in response, then we are talking with the MCU
                     if b"pong" in response:
@@ -88,6 +90,7 @@ class SerialRelay(Node):
                 #self.get_logger().info(f"[MCU] {output}")
                 msg = String()
                 msg.data = output
+                self.debug_pub.publish(msg)
                 if output.startswith("can_relay_fromvic,core"):
                     self.core_pub.publish(msg)
                 elif output.startswith("can_relay_fromvic,arm") or output.startswith("can_relay_fromvic,digit"):  # digit for voltage readings
@@ -103,19 +106,19 @@ class SerialRelay(Node):
             print("Closing serial port.")
             if self.ser.is_open:
                 self.ser.close()
-            self.exit(1)
+            exit(1)
         except TypeError as e:
             print(f"TypeError: {e}")
             print("Closing serial port.")
             if self.ser.is_open:
                 self.ser.close()
-            self.exit(1)
+            exit(1)
         except Exception as e:
             print(f"Exception: {e}")
-            print("Closing serial port.")
+            # print("Closing serial port.")
-            if self.ser.is_open:
+            # if self.ser.is_open:
-                self.ser.close()
+            #     self.ser.close()
-            self.exit(1)
+            # exit(1)
 
     def send_cmd(self, msg):
         message = msg.data
@@ -147,6 +150,6 @@ def main(args=None):
     serial_pub.run()
 
 if __name__ == '__main__':
-    signal.signal(signal.SIGTSTP, lambda signum, frame: sys.exit(0))  # Catch Ctrl+Z and exit cleanly
+    #signal.signal(signal.SIGTSTP, lambda signum, frame: sys.exit(0))  # Catch Ctrl+Z and exit cleanly
     signal.signal(signal.SIGTERM, lambda signum, frame: sys.exit(0))  # Catch termination signals and exit cleanly
     main()

src/arm_pkg/arm_pkg/arm_node.py

@@ -1,5 +1,6 @@
 import rclpy
 from rclpy.node import Node
+from rclpy import qos
 import serial
 import sys
 import threading
@@ -13,9 +14,34 @@ from ros2_interfaces_pkg.msg import ArmIK
 from ros2_interfaces_pkg.msg import SocketFeedback
 from ros2_interfaces_pkg.msg import DigitFeedback
 
+
+# IK-Related imports
+import numpy as np
+import time, math, os
+from math import sin, cos, pi
+from ament_index_python.packages import get_package_share_directory
+# from ikpy.chain import Chain
+# from ikpy.link import OriginLink, URDFLink
+# #import pygame as pyg
+# from scipy.spatial.transform import Rotation as R
+
+from . import astra_arm
+
+# control_qos = qos.QoSProfile(
+#     history=qos.QoSHistoryPolicy.KEEP_LAST,
+#     depth=1,
+#     reliability=qos.QoSReliabilityPolicy.BEST_EFFORT,
+#     durability=qos.QoSDurabilityPolicy.VOLATILE,
+#     deadline=1000,
+#     lifespan=500,
+#     liveliness=qos.QoSLivelinessPolicy.SYSTEM_DEFAULT,
+#     liveliness_lease_duration=5000
+# )
+
 serial_pub = None
 thread = None
 
+
 class SerialRelay(Node):
     def __init__(self):
         # Initialize node
@@ -33,14 +59,17 @@ class SerialRelay(Node):
         self.feedback_timer = self.create_timer(0.25, self.publish_feedback)
 
         # Create subscribers
-        self.ik_sub = self.create_subscription(ArmIK, '/arm/control/ik', self.send_ik, 10) 
+        self.ik_sub = self.create_subscription(ArmIK, '/arm/control/ik', self.send_ik, 10)
         self.man_sub = self.create_subscription(ArmManual, '/arm/control/manual', self.send_manual, 10)
 
+        self.ik_debug = self.create_publisher(String, '/arm/debug/ik', 10)
+
         # Topics used in anchor mode
         if self.launch_mode == 'anchor':
             self.anchor_sub = self.create_subscription(String, '/anchor/arm/feedback', self.anchor_feedback, 10)
             self.anchor_pub = self.create_publisher(String, '/anchor/relay', 10)
 
+        self.arm = astra_arm.Arm('arm12.urdf')
         self.arm_feedback = SocketFeedback()
         self.digit_feedback = DigitFeedback()
 
@@ -56,7 +85,7 @@ class SerialRelay(Node):
                         ser = serial.Serial(port, 115200, timeout=1)
                         #print(f"Checking port {port}...")
                         ser.write(b"ping\n")
-                        response = ser.read_until("\n")
+                        response = ser.read_until("\n")  # type: ignore
 
                         # if pong is in response, then we are talking with the MCU
                         if b"pong" in response:
@@ -124,7 +153,78 @@ class SerialRelay(Node):
             pass
 
     def send_ik(self, msg):
-        pass
+        # Convert Vector3 to a NumPy array
+        input_raw = np.array([-msg.movement_vector.x, msg.movement_vector.y, msg.movement_vector.z])  # Convert input to a NumPy array
+        # decrease input vector by 90%
+        input_raw = input_raw * 0.2
+
+        if input_raw[0] == 0.0 and input_raw[1] == 0.0 and input_raw[2] == 0.0:
+            self.get_logger().info("No input, stopping arm.")
+            command = "can_relay_tovic,arm,39,0,0,0,0\n"
+            self.send_cmd(command)
+            return
+
+        # Debug output
+        tempMsg = String()
+        tempMsg.data = "From IK Control Got Vector: " + str(input_raw)
+        #self.debug_pub.publish(tempMsg)
+
+        # Target position is current position + input vector
+        current_position = self.arm.get_position_vector()
+        target_position = current_position + input_raw
+
+
+        #Print for IK DEBUG
+        tempMsg = String()
+        # tempMsg.data = "Current Position: " + str(current_position) + "\nInput Vector" + str(input_raw) + "\nTarget Position: " + str(target_position) + "\nAngles: " + str(self.arm.current_angles)
+        tempMsg.data = "Current Angles: " + str(math.degrees(self.arm.current_angles[2])) + ", " + str(math.degrees(self.arm.current_angles[4])) + ", " + str(math.degrees(self.arm.current_angles[6]))
+        self.ik_debug.publish(tempMsg)
+        self.get_logger().info(f"[IK] {tempMsg.data}")
+
+        # Debug output for current position
+        #tempMsg.data = "Current Position: " + str(current_position)
+        #self.debug_pub.publish(tempMsg)
+
+        # Debug output for target position
+        #tempMsg.data = "Target Position: " + str(target_position)
+        #self.debug_pub.publish(tempMsg)
+
+        # Perform IK with the target position
+        if self.arm.perform_ik(target_position, self.get_logger()):
+            # Send command to control
+            
+            #command = "can_relay_tovic,arm,32," + ",".join(map(str, self.arm.ik_angles[:4])) + "\n"
+            #self.send_cmd(command)
+            self.get_logger().info(f"IK Success: {target_position}")
+            self.get_logger().info(f"IK Angles: [{str(round(math.degrees(self.arm.ik_angles[2]), 2))}, {str(round(math.degrees(self.arm.ik_angles[4]), 2))}, {str(round(math.degrees(self.arm.ik_angles[6]), 2))}]")
+
+            # tempMsg = String()
+            # tempMsg.data = "IK Success: " + str(target_position)
+            # #self.debug_pub.publish(tempMsg)
+            # tempMsg.data = "Sending: " + str(command)
+            #self.debug_pub.publish(tempMsg)
+
+            # Send the IK angles to the MCU
+            command = "can_relay_tovic,arm,32," + f"{math.degrees(self.arm.ik_angles[0])*10},{math.degrees(self.arm.ik_angles[2])*10},{math.degrees(self.arm.ik_angles[4])*10},{math.degrees(self.arm.ik_angles[6])*10}" + "\n"
+            # self.send_cmd(command)
+
+            # Manual control for Wrist/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,26," + str(msg.gripper) + "\n"
+
+            command += "can_relay_tovic,digit,28," + str(msg.laser) + "\n"
+
+            self.send_cmd(command)
+        else:
+            self.get_logger().info("IK Fail")
+            self.get_logger().info(f"IK Angles: [{str(math.degrees(self.arm.ik_angles[2]))}, {str(math.degrees(self.arm.ik_angles[4]))}, {str(math.degrees(self.arm.ik_angles[6]))}]")
+            # tempMsg = String()
+            # tempMsg.data = "IK Fail"
+            #self.debug_pub.publish(tempMsg)
+
 
     def send_manual(self, msg: ArmManual):
         axis0 = msg.axis0
@@ -151,20 +251,6 @@ class SerialRelay(Node):
         command += "can_relay_tovic,digit,34," + str(msg.linear_actuator) + "\n"
 
         self.send_cmd(command)
-        
-        
-        
-        #print(f"[Wrote] {command}", end="")
-
-    #Not yet finished, needs embedded implementation for new commands
-        # ef_roll = msg.effector_roll
-        # ef_yaw = msg.effector_yaw
-        # gripper = msg.gripper
-        # actuator = msg.linear_actuator
-        # laser = msg.laser
-        # #Send controls for digit
-
-        # command = "can_relay_tovic,digit," + str(ef_roll) + "," + str(ef_yaw) + "," + str(gripper) + "," + str(actuator) + "," + str(laser) + "\n"
 
         return
     
@@ -174,7 +260,7 @@ 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}")
+            self.get_logger().info(f"[Arm to MCU] {msg.data}")
             self.ser.write(bytes(msg, "utf8"))
 
     def anchor_feedback(self, msg: String):
@@ -186,27 +272,7 @@ class SerialRelay(Node):
             #pass
             self.updateBusVoltage(output)
         elif output.startswith("can_relay_fromvic,arm,53"):
-            parts = str(output.strip()).split(",")
+            self.updateMotorFeedback(output)
-            motorId = round(float(parts[3]))
-            temp = float(parts[4]) / 10.0
-            voltage = float(parts[5]) / 10.0
-            current = float(parts[6]) / 10.0
-            if motorId == 1:
-                self.arm_feedback.axis1_temp = temp
-                self.arm_feedback.axis1_voltage = voltage
-                self.arm_feedback.axis1_current = current
-            elif motorId == 2:
-                self.arm_feedback.axis2_temp = temp
-                self.arm_feedback.axis2_voltage = voltage
-                self.arm_feedback.axis2_current = current
-            elif motorId == 3:
-                self.arm_feedback.axis3_temp = temp
-                self.arm_feedback.axis3_voltage = voltage
-                self.arm_feedback.axis3_current = current
-            elif motorId == 4:
-                self.arm_feedback.axis0_temp = temp
-                self.arm_feedback.axis0_voltage = voltage
-                self.arm_feedback.axis0_current = current
         elif output.startswith("can_relay_fromvic,digit,54"):
             parts = msg.data.split(",")
             if len(parts) >= 7:
@@ -228,8 +294,8 @@ class SerialRelay(Node):
         self.digit_pub.publish(self.digit_feedback)
 
     def updateAngleFeedback(self, msg: str):
-                # Angle feedbacks,
+        # Angle feedbacks,
-        #split the msg.data by commas
+        # split the msg.data by commas
         parts = msg.split(",")
         
         if len(parts) >= 7:
@@ -237,7 +303,7 @@ class SerialRelay(Node):
             angles_in = parts[3:7]
             # Convert the angles to floats divide by 10.0
             angles = [float(angle) / 10.0 for angle in angles_in]
-            #angles[0] = 0.0 #override axis0 to zero
+            # angles[0] = 0.0 #override axis0 to zero
             #
             #
             #THIS NEEDS TO BE REMOVED LATER
@@ -249,7 +315,7 @@ class SerialRelay(Node):
             #
             #
             # # Update the arm's current angles
-            #self.arm.update_angles(angles)
+            self.arm.update_angles(angles)
             self.arm_feedback.axis0_angle = angles[0]
             self.arm_feedback.axis1_angle = angles[1]
             self.arm_feedback.axis2_angle = angles[2]
@@ -262,7 +328,6 @@ class SerialRelay(Node):
         else:
             self.get_logger().info("Invalid angle feedback input format")
 
-
     def updateBusVoltage(self, msg: str):
         # Bus Voltage feedbacks
         parts = msg.split(",")
@@ -276,6 +341,29 @@ class SerialRelay(Node):
             self.arm_feedback.voltage_3 = float(voltages_in[3]) / 100.0
         else:
             self.get_logger().info("Invalid voltage feedback input format")
+    
+    def updateMotorFeedback(self, msg: str):
+        parts = str(msg.strip()).split(",")
+        motorId = round(float(parts[3]))
+        temp = float(parts[4]) / 10.0
+        voltage = float(parts[5]) / 10.0
+        current = float(parts[6]) / 10.0
+        if motorId == 1:
+            self.arm_feedback.axis1_temp = temp
+            self.arm_feedback.axis1_voltage = voltage
+            self.arm_feedback.axis1_current = current
+        elif motorId == 2:
+            self.arm_feedback.axis2_temp = temp
+            self.arm_feedback.axis2_voltage = voltage
+            self.arm_feedback.axis2_current = current
+        elif motorId == 3:
+            self.arm_feedback.axis3_temp = temp
+            self.arm_feedback.axis3_voltage = voltage
+            self.arm_feedback.axis3_current = current
+        elif motorId == 4:
+            self.arm_feedback.axis0_temp = temp
+            self.arm_feedback.axis0_voltage = voltage
+            self.arm_feedback.axis0_current = current
 
 
     @staticmethod
@@ -285,8 +373,11 @@ class SerialRelay(Node):
 
     def cleanup(self):
         print("Cleaning up...")
-        if self.ser.is_open:
+        try:
-            self.ser.close()
+            if self.ser.is_open:
+                self.ser.close()
+        except Exception as e:
+            exit(0)
 
 def myexcepthook(type, value, tb):
     print("Uncaught exception:", type, value)
@@ -302,6 +393,6 @@ def main(args=None):
     serial_pub.run()
 
 if __name__ == '__main__':
-    signal.signal(signal.SIGTSTP, lambda signum, frame: sys.exit(0))  # Catch Ctrl+Z and exit cleanly
+    #signal.signal(signal.SIGTSTP, lambda signum, frame: sys.exit(0))  # Catch Ctrl+Z and exit cleanly
     signal.signal(signal.SIGTERM, lambda signum, frame: sys.exit(0))  # Catch termination signals and exit cleanly
     main()

src/arm_pkg/arm_pkg/astra_arm.py

@@ -0,0 +1,145 @@
+import rclpy
+from rclpy.node import Node
+import numpy as np
+import time, math, os
+from math import sin, cos, pi
+from ament_index_python.packages import get_package_share_directory
+from ikpy.chain import Chain
+from ikpy.link import OriginLink, URDFLink
+#import pygame as pyg
+from scipy.spatial.transform import Rotation as R
+from geometry_msgs.msg import Vector3  
+
+
+# Misc
+degree = pi / 180.0
+
+
+def convert_angles(angles):
+    # Converts angles to the format used for the urdf (contains some dummy joints)
+    return [0.0, math.radians(angles[0]), math.radians(angles[1]), 0.0, math.radians(angles[2]), 0.0, math.radians(angles[3]), 0.0, math.radians(angles[4]), math.radians(angles[5]), 0.0]
+
+
+class Arm:
+    def __init__(self, urdf_name):
+        self.ik_tolerance = 1e-1 #Tolerance (in meters) to determine if solution is valid
+        # URDF file path
+        self.urdf = os.path.join(get_package_share_directory('arm_pkg'), 'urdf', urdf_name)
+        # IKpy Chain        
+        self.chain = Chain.from_urdf_file(self.urdf)
+
+
+        # Arrays for joint states
+        # Some links in the URDF are static (non-joints), these will remain zero for IK
+        # Indexes: Fixed_base, Ax_0, Ax_1, seg1, Ax_2, seg2, ax_3, seg3, continuous, wrist, Effector
+        self.zero_angles = [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
+        self.current_angles = self.zero_angles
+        self.last_angles = self.zero_angles
+        self.ik_angles = self.zero_angles
+
+        self.current_position: list[float] = []
+        self.target_position = [0.0, 0.0, 0.0] 
+        self.target_orientation: list = [] # Effector orientation desired at target position. 
+                                # Generally orientation for the effector is modified manually by the operator. 
+        
+        # Might not need, copied over from state_publisher.py in ik_test
+        #self.step = 0.03 # Max movement increment
+
+
+    def perform_ik(self, target_position, logger):
+        self.target_position = target_position
+        # Update the target orientation to the current orientation
+        self.update_orientation()
+        # print(f"[IK FOR] Target Position: {self.target_position}")
+        try:
+            # print(f"[TRY] Current Angles: {self.current_angles}")
+            # print(f"[TRY] Target Position: {self.target_position}")
+            # print(f"[TRY] Target Orientation: {self.target_orientation}")
+            self.ik_angles = self.chain.inverse_kinematics(
+                target_position=self.target_position,
+                target_orientation=self.target_orientation,
+                initial_position=self.current_angles,
+                orientation_mode="all"
+            )
+            # Check if the solution is within the tolerance
+            fk_matrix = self.chain.forward_kinematics(self.ik_angles)
+
+            fk_position = fk_matrix[:3, 3]  # type: ignore
+            
+            # print(f"[TRY] FK Position for Solution: {fk_position}")
+
+            error = np.linalg.norm(target_position - fk_position)
+            if error > self.ik_tolerance:
+                logger.info(f"No VALID IK Solution within tolerance. Error: {error}")
+                return False
+            else:
+                logger.info(f"IK Solution Found. Error: {error}")
+                return True
+        except Exception as e:
+            logger.info(f"IK failed for exception: {e}")
+            return False
+    
+    # # Given the FK_Matix for the arm's current pose, update the orientation array
+    # def update_orientation(self, fk_matrix):
+    #     self.target_orientation = fk_matrix[:3, :3]
+    #     return
+    
+    # def update_joints(self, ax_0, ax_1, ax_2, ax_3, wrist):
+    #     self.current_angles = [0.0, 0.0, ax_0, ax_1, ax_2, ax_3, wrist, 0.0]
+    #     return
+
+    # Get current orientation of the end effector and update target_orientation
+    def update_orientation(self):
+
+        # FK matrix for arm's current pose
+        fk_matrix = self.chain.forward_kinematics(self.current_angles)
+        
+        # Update target_orientation to the effector's current orientation
+        self.target_orientation = fk_matrix[:3, :3]  # type: ignore
+
+    # Update current angles to those provided
+    # Resetting last_angles to the new angles
+    #
+    # Use: First call, or when angles are changed manually.
+    def reset_angles(self, angles):
+        # Update angles to the new angles
+        self.current_angles = convert_angles(angles)
+        self.last_angles = self.current_angles
+
+    # Update current angles to those provided
+    # Maintain previous angles in last_angles
+    #
+    # Use: Repeated calls during IK operation
+    def update_angles(self, angles):
+        # Update angles to the new angles
+        self.last_angles = self.current_angles
+        self.current_angles = convert_angles(angles)
+    
+    # Get current X,Y,Z position of end effector
+    def get_position(self):
+        # FK matrix for arm's current pose
+        fk_matrix = self.chain.forward_kinematics(self.current_angles)
+        
+        # Get the position of the end effector from the FK matrix
+        position = fk_matrix[:3, 3]  # type: ignore
+        
+        return position
+
+    # Get current X,Y,Z position of end effector
+    def get_position_vector(self):
+        # FK matrix for arm's current pose
+        fk_matrix = self.chain.forward_kinematics(self.current_angles)
+        
+        # Get the position of the end effector from the FK matrix
+        position = fk_matrix[:3, 3]  # type: ignore
+
+        # Return position as a NumPy array
+        return np.array(position)
+
+    
+    def update_position(self):
+        # FK matrix for arm's current pose
+        fk_matrix = self.chain.forward_kinematics(self.current_angles)
+        
+        # Get the position of the end effector from the FK matrix and update current pos
+        self.current_position = fk_matrix[:3, 3]  # type: ignore

src/arm_pkg/setup.py

@@ -1,4 +1,6 @@
 from setuptools import find_packages, setup
+import os
+from glob import glob
 
 package_name = 'arm_pkg'
 
@@ -10,6 +12,8 @@ setup(
         ('share/ament_index/resource_index/packages',
             ['resource/' + package_name]),
         ('share/' + package_name, ['package.xml']),
+        (os.path.join('share', package_name, 'launch'), glob('launch/*')),
+  	    (os.path.join('share', package_name, 'urdf'), glob('urdf/*')),
     ],
     install_requires=['setuptools'],
     zip_safe=True,

src/arm_pkg/urdf/arm11.urdf

@@ -0,0 +1,239 @@
+<?xml version="1.0" ?>
+<!-- =================================================================================== -->
+<!-- |    This document was autogenerated by xacro from omni_description/robots/omnipointer_arm_only.urdf.xacro | -->
+<!-- |    EDITING THIS FILE BY HAND IS NOT RECOMMENDED                                 | -->
+<!-- =================================================================================== -->
+<robot name="omnipointer" xmlns:xacro="http://ros.org/wiki/xacro">
+  <!--MX64trntbl + MX106:  ? + 0.153 -->
+  <!-- singleaxismount + 2.5girder + singleaxismount + base + MX106: 0.007370876 + 0.0226796 + 0.007370876 + ? + 0.153 -->
+  <!-- frame106 + singleaxismount + adjustgirder + singleaxismount + base + MX28: 0.0907185 + 0.00737088 + 0.110563 + 0.00737088 + ? + 0.077 -->
+  <!-- frame28 + singleaxismount + 5girder + singleaxismount + base + MX28: 0.0907185 + 0.00737088 + 0.0368544 + 0.00737088 + ? + 0.077 -->
+  <!-- frame28 + singleaxismount + 2.5girder + singleaxismount + tip: 0.0907185 + 0.00737088 + 0.0226796 + 0.00737088 + ? -->
+  <material name="omni/Blue">
+    <color rgba="0 0 0.8 1"/>
+  </material>
+  <material name="omni/Red">
+    <color rgba="1 0 0 1"/>
+  </material>
+  <material name="omni/Green">
+    <color rgba="0 1 0 1"/>
+  </material>
+  <material name="omni/Yellow">
+    <color rgba="1 1 0 1"/>
+  </material>
+  <material name="omni/LightGrey">
+    <color rgba="0.6 0.6 0.6 1"/>
+  </material>
+  <material name="omni/DarkGrey">
+    <color rgba="0.4 0.4 0.4 1"/>
+  </material>
+  <!-- Now we can start using the macros xacro:included above to define the actual omnipointer -->
+  <!-- The first use of a macro.  This one was defined in youbot_base/base.urdf.xacro above.
+       A macro like this will expand to a set of link and joint definitions, and to additional
+       Gazebo-related extensions (sensor plugins, etc).  The macro takes an argument, name,
+       that equals "base", and uses it to generate names for its component links and joints
+       (e.g., base_link).  The xacro:included origin block is also an argument to the macro.  By convention,
+       the origin block defines where the component is w.r.t its parent (in this case the parent
+       is the world frame). For more, see http://www.ros.org/wiki/xacro -->
+  <!-- foot for arm-->
+  <link name="base_link">
+    <inertial>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <mass value="10.0"/>
+      <inertia ixx="0.1" ixy="0" ixz="0" iyy="0.1" iyz="0" izz="0.1"/>
+    </inertial>
+  </link>
+  <!-- joint between base_link and arm_0_link -->
+  <joint name="arm_joint_0" type="fixed">
+    <origin rpy="0 0 0" xyz="0 0 0"/>
+    <parent link="base_link"/>
+    <child link="arm_link_0"/>
+  </joint>
+  <link name="arm_link_0">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0.02725"/>
+      <geometry>
+        <box size="0.1143 0.1143 0.0545"/>
+      </geometry>
+      <material name="omni/LightGrey"/>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0.02725"/>
+      <geometry>
+        <box size="0.1143 0.1143 0.0545"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <!-- CENTER OF MASS -->
+      <origin rpy="0 0 0" xyz="0 0 0.02725"/>
+      <mass value="0.2"/>
+      <!-- box inertia: 1/12*m(y^2+z^2), ... -->
+      <inertia ixx="0.000267245666667" ixy="0" ixz="0" iyy="0.000267245666667" iyz="0" izz="0.000435483"/>
+    </inertial>
+  </link>
+  <joint name="arm_joint_1" type="revolute">
+    <parent link="arm_link_0"/>
+    <child link="arm_link_1"/>
+    <dynamics damping="3.0" friction="0.3"/>
+    <limit effort="30.0" lower="-3.1415926535" upper="3.1415926535" velocity="5.0"/>
+    <origin rpy="0 0 0" xyz="0 0 0.0545"/>
+    <axis xyz="0 0 1"/>
+  </joint>
+  <link name="arm_link_1">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0.075"/>
+      <geometry>
+        <box size="0.0402 0.05 0.15"/>
+      </geometry>
+      <material name="omni/Blue"/>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0.075"/>
+      <geometry>
+        <box size="0.0402 0.05 0.15"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <!-- CENTER OF MASS -->
+      <origin rpy="0 0 0" xyz="0 0 0.075"/>
+      <mass value="0.190421352"/>
+      <!-- box inertia: 1/12*m(y^2+z^2), ... -->
+      <inertia ixx="0.000279744834534" ixy="0" ixz="0" iyy="0.000265717763008" iyz="0" izz="6.53151584738e-05"/>
+    </inertial>
+  </link>
+  <joint name="arm_joint_2" type="revolute">
+    <parent link="arm_link_1"/>
+    <child link="arm_link_2"/>
+    <dynamics damping="3.0" friction="0.3"/>
+    <limit effort="30.0" lower="-1.75079632679" upper="1.75079632679" velocity="5.0"/>
+    <origin rpy="0 0 0" xyz="0 0 0.15"/>
+    <axis xyz="0 1 0"/>
+  </joint>
+  <link name="arm_link_2">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0.2355"/>
+      <geometry>
+        <box size="0.0356 0.05 0.471"/>
+      </geometry>
+      <material name="omni/Red"/>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0.2355"/>
+      <geometry>
+        <box size="0.0356 0.05 0.471"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <!-- CENTER OF MASS -->
+      <origin rpy="0 0 0" xyz="0 0 0.2355"/>
+      <mass value="0.29302326"/>
+      <!-- box inertia: 1/12*m(y^2+z^2), ... -->
+      <inertia ixx="0.00251484771035" ixy="0" ixz="0" iyy="0.00248474836108" iyz="0" izz="9.19936757328e-05"/>
+    </inertial>
+  </link>
+  <joint name="arm_joint_3" type="revolute">
+    <parent link="arm_link_2"/>
+    <child link="arm_link_3"/>
+    <dynamics damping="3.0" friction="0.3"/>
+    <limit effort="30.0" lower="-1.75079632679" upper="1.75079632679" velocity="5.0"/>
+    <origin rpy="0 0 0" xyz="0 0 0.471"/>
+    <axis xyz="0 1 0"/>
+  </joint>
+  <link name="arm_link_3">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0.1885"/>
+      <geometry>
+        <box size="0.0356 0.05 0.377"/>
+      </geometry>
+      <material name="omni/Yellow"/>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0.1885"/>
+      <geometry>
+        <box size="0.0356 0.05 0.377"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <!-- CENTER OF MASS -->
+      <origin rpy="0 0 0" xyz="0 0 0.1885"/>
+      <mass value="0.21931466"/>
+      <!-- box inertia: 1/12*m(y^2+z^2), ... -->
+      <inertia ixx="0.000791433503053" ixy="0" ixz="0" iyy="0.000768905501178" iyz="0" izz="6.88531064581e-05"/>
+    </inertial>
+  </link>
+  <joint name="arm_joint_4" type="revolute">
+    <parent link="arm_link_3"/>
+    <child link="arm_link_4"/>
+    <dynamics damping="3.0" friction="0.3"/>
+    <limit effort="30.0" lower="-1.75079632679" upper="1.75079632679" velocity="5.0"/>
+    <origin rpy="0 0 0" xyz="0 0 0.377"/>
+    <axis xyz="0 1 0"/>
+  </joint>
+  <link name="arm_link_4">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0.066"/>
+      <geometry>
+        <box size="0.0356 0.05 0.132"/>
+      </geometry>
+      <material name="omni/Green"/>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0.066"/>
+      <geometry>
+        <box size="0.0356 0.05 0.132"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <!-- CENTER OF MASS -->
+      <origin rpy="0 0 0" xyz="0 0 0.066"/>
+      <mass value="0.15813986"/>
+      <!-- box inertia: 1/12*m(y^2+z^2), ... -->
+      <inertia ixx="0.00037242266488" ixy="0" ixz="0" iyy="0.000356178538461" iyz="0" izz="4.96474819141e-05"/>
+    </inertial>
+  </link>
+  <joint name="arm_joint_5" type="revolute">
+    <parent link="arm_link_4"/>
+    <child link="arm_link_5"/>
+    <dynamics damping="3.0" friction="0.3"/>
+    <limit effort="30.0" lower="-1.75079632679" upper="1.75079632679" velocity="5.0"/>
+    <origin rpy="0 0 0" xyz="0 0 0.132"/>
+    <axis xyz="1 0 0"/>
+  </joint>
+  <link name="arm_link_5">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0.124"/>
+      <geometry>
+        <box size="0.0356 0.05 0.248"/>
+      </geometry>
+      <material name="omni/Blue"/>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0.124"/>
+      <geometry>
+        <box size="0.0356 0.05 0.248"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <!-- CENTER OF MASS -->
+      <origin rpy="0 0 0" xyz="0 0 0.124"/>
+      <mass value="0.15813986"/>
+      <!-- box inertia: 1/12*m(y^2+z^2), ... -->
+      <inertia ixx="0.00037242266488" ixy="0" ixz="0" iyy="0.000356178538461" iyz="0" izz="4.96474819141e-05"/>
+    </inertial>
+  </link>
+  <joint name="arm_joint_6" type="fixed">
+    <parent link="arm_link_5"/>
+    <child link="arm_link_6"/>
+    <origin rpy="0 0 0" xyz="0 0 0.248"/>
+  </joint>
+  <link name="arm_link_6">
+    <inertial>
+      <!-- CENTER OF MASS -->
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <mass value="1e-12"/>
+      <!-- box inertia: 1/12*m(y^2+z^2), ... -->
+      <inertia ixx="1e-12" ixy="0" ixz="0" iyy="1e-12" iyz="0" izz="1e-12"/>
+    </inertial>
+  </link>
+  <!-- END OF ARM LINKS/JOINTS -->
+</robot>

src/arm_pkg/urdf/arm12.urdf

@@ -0,0 +1,307 @@
+<robot name="robot">
+  <link name="base_footprint"></link>
+  <joint name="base_joint" type="fixed">
+    <parent link="base_footprint" />
+    <child link="base_link" />
+    <origin xyz="0 0 0.0004048057655643422" rpy="0 0 0" />
+  </joint>
+  <link name="base_link">
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <box size="0.5 0.5 0.01" />
+      </geometry>
+      <material name="base_link-material">
+        <color rgba="0 0.6038273388475408 1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <box size="0.5 0.5 0.01" />
+      </geometry>
+    </collision>
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <mass value="1" />
+      <inertia ixx="0.17" ixy="0" ixz="0" iyy="0.17" iyz="0" izz="0.05" />
+    </inertial>
+  </link>
+  <joint name="Axis_0_Joint" type="revolute">
+    <parent link="base_link" />
+    <child link="Axis_0" />
+    <origin xyz="0 0 0.035" rpy="0 0 0" />
+    <axis xyz="0 0 1"/>
+    <limit effort="1000.0" lower="-2.5" upper="2.5" velocity="0.5"/>  </joint>
+  <link name="Axis_0">
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <cylinder radius="0.15" length="0.059" />
+      </geometry>
+      <material name="Axis_0-material">
+        <color rgba="0.3515325994898463 0.4735314961384573 0.9301108583738498 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <cylinder radius="0.15" length="0.059" />
+      </geometry>
+    </collision>
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <mass value="1" />
+      <inertia ixx="0.3333333333333333" ixy="0" ixz="0" iyy="0.5" iyz="0" izz="0.3333333333333333" />
+    </inertial>
+  </link>
+  <joint name="Axis_1_Joint" type="revolute">
+    <parent link="Axis_0" />
+    <child link="Axis_1" />
+    <origin xyz="0 0 0.11189588647115647" rpy="1.5707963267948963 0 0" />
+    <axis xyz="0 0 1"/>
+    <limit effort="1000.0" lower="-1.7" upper="1.7" velocity="0.5"/>  </joint>
+  <link name="Axis_1">
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <cylinder radius="0.082" length="0.1" />
+      </geometry>
+      <material name="Axis_1-material">
+        <color rgba="0.14702726648767014 0.14126329113044458 0.7304607400847158 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <cylinder radius="0.082" length="0.1" />
+      </geometry>
+    </collision>
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <mass value="1" />
+      <inertia ixx="0.3333333333333333" ixy="0" ixz="0" iyy="0.5" iyz="0" izz="0.3333333333333333" />
+    </inertial>
+  </link>
+  <joint name="Axis_1_to_Segment_1" type="fixed">
+    <parent link="Axis_1" />
+    <child link="Segment_1" />
+    <origin xyz="0 0.2350831500270899 0" rpy="-1.5707963267948963 0 0" />
+  </joint>
+  <link name="Segment_1">
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <cylinder radius="0.025" length="0.473" />
+      </geometry>
+      <material name="Segment_1-material">
+        <color rgba="0.09084171117479915 0.3231432091022285 0.1844749944900301 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <cylinder radius="0.025" length="0.473" />
+      </geometry>
+    </collision>
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <mass value="1" />
+      <inertia ixx="0.3333333333333333" ixy="0" ixz="0" iyy="0.5" iyz="0" izz="0.3333333333333333" />
+    </inertial>
+  </link>
+  <joint name="Axis_2_Joint" type="revolute">
+    <parent link="Segment_1" />
+    <child link="Axis_2" />
+    <origin xyz="0 -5.219894517229704e-17 0.2637568842473722" rpy="1.5707963267948963 0 0" />
+    <axis xyz="0 0 1"/>
+    <limit effort="1000.0" lower="-2.7" upper="2.7" velocity="0.5"/>  </joint>
+  <link name="Axis_2">
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <cylinder radius="0.055" length="0.1" />
+      </geometry>
+      <material name="Axis_2-material">
+        <color rgba="0.14702726648767014 0.14126329113044458 0.7304607400847158 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <cylinder radius="0.055" length="0.1" />
+      </geometry>
+    </collision>
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <mass value="1" />
+      <inertia ixx="0.3333333333333333" ixy="0" ixz="0" iyy="0.5" iyz="0" izz="0.3333333333333333" />
+    </inertial>
+  </link>
+  <joint name="Axis_2_to_Segment_2" type="fixed">
+    <parent link="Axis_2" />
+    <child link="Segment_2" />
+    <origin xyz="0 0.19535682173790003 0" rpy="-1.5707963267948963 0 0" />
+  </joint>
+  <link name="Segment_2">
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <cylinder radius="0.025" length="0.393" />
+      </geometry>
+      <material name="Segment_2-material">
+        <color rgba="0.09084171117479915 0.3231432091022285 0.1844749944900301 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <cylinder radius="0.025" length="0.393" />
+      </geometry>
+    </collision>
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <mass value="1" />
+      <inertia ixx="0.3333333333333333" ixy="0" ixz="0" iyy="0.5" iyz="0" izz="0.3333333333333333" />
+    </inertial>
+  </link>
+  <joint name="Axis_3_Joint" type="revolute">
+    <parent link="Segment_2" />
+    <child link="Axis_3" />
+    <origin xyz="0 -4.337792830220178e-17 0.199625776257357" rpy="1.5707963267948963 0 0" />
+    <axis xyz="0 0 1"/>
+    <limit effort="1000.0" lower="-1.6" upper="1.6" velocity="0.5"/>  </joint>
+  <link name="Axis_3">
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <cylinder radius="0.05" length="0.1" />
+      </geometry>
+      <material name="Axis_3-material">
+        <color rgba="0.14702726648767014 0.14126329113044458 0.7304607400847158 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <cylinder radius="0.05" length="0.1" />
+      </geometry>
+    </collision>
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <mass value="1" />
+      <inertia ixx="0.3333333333333333" ixy="0" ixz="0" iyy="0.5" iyz="0" izz="0.3333333333333333" />
+    </inertial>
+  </link>
+  <joint name="Axis_3_to_Segment_3" type="fixed">
+    <parent link="Axis_3" />
+    <child link="Segment_3" />
+    <origin xyz="0 0.06725724726912972 0" rpy="-1.5707963267948963 0 0" />
+  </joint>
+  <link name="Segment_3">
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <cylinder radius="0.025" length="0.135" />
+      </geometry>
+      <material name="Segment_3-material">
+        <color rgba="0.09084171117479915 0.3231432091022285 0.1844749944900301 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <cylinder radius="0.025" length="0.135" />
+      </geometry>
+    </collision>
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <mass value="1" />
+      <inertia ixx="0.3333333333333333" ixy="0" ixz="0" iyy="0.5" iyz="0" izz="0.3333333333333333" />
+    </inertial>
+  </link>
+  <joint name="Wrist_Joint" type="revolute">
+    <parent link="Segment_3" />
+    <child link="Axis_4" />
+    <origin xyz="0 0 0.0655808825338593" rpy="0 1.5707963267948966 0" />
+    <axis xyz="0 0 1"/>
+    <limit effort="1000.0" lower="-1.6" upper="1.6" velocity="0.5"/>  </joint>
+  <link name="Axis_4">
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <cylinder radius="0.03" length="0.075" />
+      </geometry>
+      <material name="Axis_4-material">
+        <color rgba="0.23455058215026167 0.9301108583738498 0.21952619971859377 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <cylinder radius="0.03" length="0.075" />
+      </geometry>
+    </collision>
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <mass value="1" />
+      <inertia ixx="0.3333333333333333" ixy="0" ixz="0" iyy="0.5" iyz="0" izz="0.3333333333333333" />
+    </inertial>
+  </link>
+  <joint name="Continuous_Joint" type="revolute">
+    <parent link="Axis_4" />
+    <child link="Axis_4_C" />
+    <origin xyz="0.0009533507860803557 0 0" rpy="0 -1.5707963267948966 0" />
+    <axis xyz="0 0 1"/>
+    <limit effort="1000.0" lower="-3.14" upper="3.14" velocity="0.5"/>
+  </joint>
+  <link name="Axis_4_C">
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <cylinder radius="0.02" length="0.01" />
+      </geometry>
+      <material name="Axis_4_C-material">
+        <color rgba="0.006048833020386069 0.407240211891531 0.15592646369776456 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <cylinder radius="0.02" length="0.01" />
+      </geometry>
+    </collision>
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <mass value="1" />
+      <inertia ixx="0.3333333333333333" ixy="0" ixz="0" iyy="0.5" iyz="0" izz="0.3333333333333333" />
+    </inertial>
+  </link>
+  <joint name="Axis_4_C_to_Effector" type="fixed">
+    <parent link="Axis_4_C" />
+    <child link="Effector" />
+    <origin xyz="0 0 0.06478774571448076" rpy="0 0 0" />
+  </joint>
+  <link name="Effector">
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <box size="0.05 0.01 0.135" />
+      </geometry>
+      <material name="Effector-material">
+        <color rgba="0.2746773120495699 0.01680737574872402 0.5711248294565854 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <box size="0.01 0.01 0.135" />
+      </geometry>
+    </collision>
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <mass value="1" />
+      <inertia ixx="0.16666666666666666" ixy="0" ixz="0" iyy="0.16666666666666666" iyz="0" izz="0.16666666666666666" />
+    </inertial>
+  </link>
+</robot>

src/bio_pkg/bio_pkg/bio_node.py

@@ -3,6 +3,7 @@ from rclpy.node import Node
 import serial
 import sys
 import threading
+import os
 import glob
 import time
 import atexit
@@ -202,8 +203,11 @@ class SerialRelay(Node):
 
     def cleanup(self):
         print("Cleaning up...")
-        if self.ser.is_open:
+        try:
-            self.ser.close()
+            if self.ser.is_open:
+                self.ser.close()
+        except Exception as e:
+            exit(0)
 
 def myexcepthook(type, value, tb):
     print("Uncaught exception:", type, value)
@@ -219,6 +223,6 @@ def main(args=None):
     serial_pub.run()
 
 if __name__ == '__main__':
-    signal.signal(signal.SIGTSTP, lambda signum, frame: sys.exit(0))  # Catch Ctrl+Z and exit cleanly
+    #signal.signal(signal.SIGTSTP, lambda signum, frame: sys.exit(0))  # Catch Ctrl+Z and exit cleanly
     signal.signal(signal.SIGTERM, lambda signum, frame: sys.exit(0))  # Catch termination signals and exit cleanly
     main()

src/core_pkg/core_pkg/core_node.py

@@ -1,5 +1,6 @@
 import rclpy
 from rclpy.node import Node
+from rclpy import qos
 from std_srvs.srv import Empty
 
 import signal
@@ -7,6 +8,7 @@ import time
 import atexit
 
 import serial
+import os
 import sys
 import threading
 import glob
@@ -18,6 +20,17 @@ from ros2_interfaces_pkg.msg import CoreControl
 serial_pub = None
 thread = None
 
+# control_qos = qos.QoSProfile(
+#     history=qos.QoSHistoryPolicy.KEEP_LAST,
+#     depth=1,
+#     reliability=qos.QoSReliabilityPolicy.BEST_EFFORT,
+#     durability=qos.QoSDurabilityPolicy.VOLATILE,
+#     deadline=1000,
+#     lifespan=500,
+#     liveliness=qos.QoSLivelinessPolicy.SYSTEM_DEFAULT,
+#     liveliness_lease_duration=5000
+# )
+
 class SerialRelay(Node):
     def __init__(self):
         # Initalize node with name
@@ -189,7 +202,7 @@ class SerialRelay(Node):
             output.data = msg
             self.anchor_pub.publish(output)
         elif self.launch_mode == 'core':
-            self.get_logger().info(f"[Core to MCU] {msg}")
+            self.get_logger().info(f"[Core to MCU] {msg.data}")
             self.ser.write(bytes(msg, "utf8"))
 
     def anchor_feedback(self, msg: String):
@@ -263,8 +276,11 @@ class SerialRelay(Node):
     
     def cleanup(self):
         print("Cleaning up before terminating...")
-        if self.ser.is_open:
+        try:
-            self.ser.close()
+            if self.ser.is_open:
+                self.ser.close()
+        except Exception as e:
+            exit(0)
 
 def myexcepthook(type, value, tb):
     print("Uncaught exception:", type, value)
@@ -283,7 +299,7 @@ def main(args=None):
    serial_pub.run()
 
 if __name__ == '__main__':
-    signal.signal(signal.SIGTSTP, lambda signum, frame: sys.exit(0))  # Catch Ctrl+Z and exit cleanly
+    #signal.signal(signal.SIGTSTP, lambda signum, frame: sys.exit(0))  # Catch Ctrl+Z and exit cleanly
     signal.signal(signal.SIGTERM, lambda signum, frame: sys.exit(0))  # Catch termination signals and exit cleanly
     main()