From 9fc120b09ec1980417c42160fa4224ff4985d100 Mon Sep 17 00:00:00 2001 From: David Date: Sat, 31 Jan 2026 17:21:52 -0600 Subject: [PATCH 1/6] fix: make QoS compatible with basestation-game --- src/arm_pkg/arm_pkg/arm_node.py | 2 +- src/astra_msgs | 2 +- src/core_pkg/core_pkg/core_node.py | 14 +++++++------- src/headless_pkg/src/headless_node.py | 14 +++++++------- 4 files changed, 16 insertions(+), 16 deletions(-) diff --git a/src/arm_pkg/arm_pkg/arm_node.py b/src/arm_pkg/arm_pkg/arm_node.py index ab621a1..effa73e 100644 --- a/src/arm_pkg/arm_pkg/arm_node.py +++ b/src/arm_pkg/arm_pkg/arm_node.py @@ -49,7 +49,7 @@ class SerialRelay(Node): # Create subscribers self.man_sub = self.create_subscription( - ArmManual, "/arm/control/manual", self.send_manual, 10 + ArmManual, "/arm/control/manual", self.send_manual, 2 ) # New messages diff --git a/src/astra_msgs b/src/astra_msgs index 6a57072..2840bfe 160000 --- a/src/astra_msgs +++ b/src/astra_msgs @@ -1 +1 @@ -Subproject commit 6a5707272398e364005ca2bfa17bea648f704b49 +Subproject commit 2840bfef34ba40f6c7c494891fde3478ff184de3 diff --git a/src/core_pkg/core_pkg/core_node.py b/src/core_pkg/core_pkg/core_node.py index 58b9b6c..b5ae8d8 100644 --- a/src/core_pkg/core_pkg/core_node.py +++ b/src/core_pkg/core_pkg/core_node.py @@ -31,14 +31,14 @@ CORE_WHEEL_RADIUS = 0.171 # meters CORE_GEAR_RATIO = 100.0 # Clucky: 100:1, Testbed: 64:1 control_qos = qos.QoSProfile( - history=qos.QoSHistoryPolicy.KEEP_LAST, + # history=qos.QoSHistoryPolicy.KEEP_LAST, depth=2, - reliability=qos.QoSReliabilityPolicy.BEST_EFFORT, - durability=qos.QoSDurabilityPolicy.VOLATILE, - deadline=Duration(seconds=1), - lifespan=Duration(nanoseconds=500_000_000), # 500ms - liveliness=qos.QoSLivelinessPolicy.SYSTEM_DEFAULT, - liveliness_lease_duration=Duration(seconds=5), + # reliability=qos.QoSReliabilityPolicy.BEST_EFFORT, + # durability=qos.QoSDurabilityPolicy.VOLATILE, + # deadline=Duration(seconds=1), + # lifespan=Duration(nanoseconds=500_000_000), # 500ms + # liveliness=qos.QoSLivelinessPolicy.SYSTEM_DEFAULT, + # liveliness_lease_duration=Duration(seconds=5), ) # Used to verify the length of an incoming VicCAN feedback message diff --git a/src/headless_pkg/src/headless_node.py b/src/headless_pkg/src/headless_node.py index 50717c5..6c36c87 100755 --- a/src/headless_pkg/src/headless_node.py +++ b/src/headless_pkg/src/headless_node.py @@ -35,14 +35,14 @@ ARM_STOP_MSG = ArmManual() # " BIO_STOP_MSG = BioControl() # " control_qos = qos.QoSProfile( - history=qos.QoSHistoryPolicy.KEEP_LAST, + # history=qos.QoSHistoryPolicy.KEEP_LAST, depth=2, - reliability=qos.QoSReliabilityPolicy.BEST_EFFORT, - durability=qos.QoSDurabilityPolicy.VOLATILE, - deadline=Duration(seconds=1), - lifespan=Duration(nanoseconds=500_000_000), # 500ms - liveliness=qos.QoSLivelinessPolicy.SYSTEM_DEFAULT, - liveliness_lease_duration=Duration(seconds=5), + # reliability=qos.QoSReliabilityPolicy.BEST_EFFORT, + # durability=qos.QoSDurabilityPolicy.VOLATILE, + # deadline=Duration(seconds=1), + # lifespan=Duration(nanoseconds=500_000_000), # 500ms + # liveliness=qos.QoSLivelinessPolicy.SYSTEM_DEFAULT, + # liveliness_lease_duration=Duration(seconds=5), ) CORE_MODE = "twist" # "twist" or "duty" From d9355f16e9bb15f68b660bae4d42c90d61f79761 Mon Sep 17 00:00:00 2001 From: David Date: Sat, 31 Jan 2026 18:32:39 -0600 Subject: [PATCH 2/6] fix: EF gripper works again ._. --- src/arm_pkg/arm_pkg/arm_node.py | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/src/arm_pkg/arm_pkg/arm_node.py b/src/arm_pkg/arm_pkg/arm_node.py index effa73e..9387f73 100644 --- a/src/arm_pkg/arm_pkg/arm_node.py +++ b/src/arm_pkg/arm_pkg/arm_node.py @@ -190,7 +190,7 @@ class SerialRelay(Node): command += f"can_relay_tovic,digit,39,{msg.effector_yaw},{msg.effector_roll}\n" - # command += f"can_relay_tovic,digit,26,{msg.gripper}\n" # no hardware rn + command += f"can_relay_tovic,digit,26,{msg.gripper}\n" # no hardware rn command += f"can_relay_tovic,digit,28,{msg.laser}\n" From 2d48361b8f825b684d765131e72656f7738177eb Mon Sep 17 00:00:00 2001 From: ryleu <69326171+ryleu@users.noreply.github.com> Date: Tue, 3 Feb 2026 23:32:42 -0500 Subject: [PATCH 3/6] update to develop branch of nix-ros-overlay --- flake.lock | 16 ++++++++-------- flake.nix | 2 +- 2 files changed, 9 insertions(+), 9 deletions(-) diff --git a/flake.lock b/flake.lock index 401e99d..4c9cb33 100644 --- a/flake.lock +++ b/flake.lock @@ -24,27 +24,27 @@ "nixpkgs": "nixpkgs" }, "locked": { - "lastModified": 1761810010, - "narHash": "sha256-o0wJKW603SiOO373BTgeZaF6nDxegMA/cRrzSC2Cscg=", + "lastModified": 1770108954, + "narHash": "sha256-VBj6bd4LPPSfsZJPa/UPPA92dOs6tmQo0XZKqfz/3W4=", "owner": "lopsided98", "repo": "nix-ros-overlay", - "rev": "e277df39e3bc6b372a5138c0bcf10198857c55ab", + "rev": "3d05d46451b376e128a1553e78b8870c75d7753a", "type": "github" }, "original": { "owner": "lopsided98", - "ref": "master", + "ref": "develop", "repo": "nix-ros-overlay", "type": "github" } }, "nixpkgs": { "locked": { - "lastModified": 1744849697, - "narHash": "sha256-S9hqvanPSeRu6R4cw0OhvH1rJ+4/s9xIban9C4ocM/0=", - "owner": "lopsided98", + "lastModified": 1759381078, + "narHash": "sha256-gTrEEp5gEspIcCOx9PD8kMaF1iEmfBcTbO0Jag2QhQs=", + "owner": "NixOS", "repo": "nixpkgs", - "rev": "6318f538166fef9f5118d8d78b9b43a04bb049e4", + "rev": "7df7ff7d8e00218376575f0acdcc5d66741351ee", "type": "github" }, "original": { diff --git a/flake.nix b/flake.nix index 17dd3b9..cde0881 100644 --- a/flake.nix +++ b/flake.nix @@ -2,7 +2,7 @@ description = "Development environment for ASTRA Anchor"; inputs = { - nix-ros-overlay.url = "github:lopsided98/nix-ros-overlay/master"; + nix-ros-overlay.url = "github:lopsided98/nix-ros-overlay/develop"; nixpkgs.follows = "nix-ros-overlay/nixpkgs"; # IMPORTANT!!! }; From b70a0d27c366b481bd37a77f4bf295ecb2ae5c48 Mon Sep 17 00:00:00 2001 From: ryleu <69326171+ryleu@users.noreply.github.com> Date: Wed, 4 Feb 2026 00:04:07 -0500 Subject: [PATCH 4/6] uncomment ros2_controllers --- flake.nix | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/flake.nix b/flake.nix index cde0881..d666ec9 100644 --- a/flake.nix +++ b/flake.nix @@ -70,7 +70,7 @@ ompl chomp-motion-planner joy - # ros2-controllers nixpkg does not build :( + ros2-controllers ]; } ) From 697efa7b9dd1a94056b544c70a69b9f791141fcb Mon Sep 17 00:00:00 2001 From: ryleu <69326171+ryleu@users.noreply.github.com> Date: Wed, 4 Feb 2026 00:31:36 -0500 Subject: [PATCH 5/6] add missing packages for moveit --- flake.nix | 4 +++- 1 file changed, 3 insertions(+), 1 deletion(-) diff --git a/flake.nix b/flake.nix index d666ec9..cb0fd12 100644 --- a/flake.nix +++ b/flake.nix @@ -56,10 +56,12 @@ control-msgs control-toolbox moveit-core + moveit-planners moveit-common moveit-msgs moveit-ros-planning moveit-ros-planning-interface + moveit-ros-visualization moveit-configs-utils moveit-ros-move-group moveit-servo @@ -68,9 +70,9 @@ pilz-industrial-motion-planner pick-ik ompl - chomp-motion-planner joy ros2-controllers + chomp-motion-planner ]; } ) From c72f72dc3252a46dac6e96f5c290f2f0fafd76d9 Mon Sep 17 00:00:00 2001 From: ryleu <69326171+ryleu@users.noreply.github.com> Date: Sun, 8 Feb 2026 17:23:53 -0600 Subject: [PATCH 6/6] -> python 3.13 --- flake.nix | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/flake.nix b/flake.nix index cb0fd12..f4d5bac 100644 --- a/flake.nix +++ b/flake.nix @@ -25,7 +25,7 @@ name = "ASTRA Anchor"; packages = with pkgs; [ colcon - (python312.withPackages ( + (python313.withPackages ( p: with p; [ pyserial pygame