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Merge branch 'main' into bio-topic-refactor-rebase

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SHC-ASTRA
2026-02-09 21:17:38 -06:00
parent d4042f8744 3f68052144
commit 9510270272
5 changed files with 30 additions and 28 deletions
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16
flake.lock generated
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@@ -86,16 +86,16 @@
"nixpkgs": "nixpkgs_2" "nixpkgs": "nixpkgs_2"
}, },
"locked": { "locked": {
"lastModified": 1761810010, "lastModified": 1770108954,
"narHash": "sha256-o0wJKW603SiOO373BTgeZaF6nDxegMA/cRrzSC2Cscg=", "narHash": "sha256-VBj6bd4LPPSfsZJPa/UPPA92dOs6tmQo0XZKqfz/3W4=",
"owner": "lopsided98", "owner": "lopsided98",
"repo": "nix-ros-overlay", "repo": "nix-ros-overlay",
"rev": "e277df39e3bc6b372a5138c0bcf10198857c55ab", "rev": "3d05d46451b376e128a1553e78b8870c75d7753a",
"type": "github" "type": "github"
}, },
"original": { "original": {
"owner": "lopsided98", "owner": "lopsided98",
"ref": "master", "ref": "develop",
"repo": "nix-ros-overlay", "repo": "nix-ros-overlay",
"type": "github" "type": "github"
} }
@@ -118,11 +118,11 @@
}, },
"nixpkgs_2": { "nixpkgs_2": {
"locked": { "locked": {
"lastModified": 1744849697, "lastModified": 1759381078,
"narHash": "sha256-S9hqvanPSeRu6R4cw0OhvH1rJ+4/s9xIban9C4ocM/0=", "narHash": "sha256-gTrEEp5gEspIcCOx9PD8kMaF1iEmfBcTbO0Jag2QhQs=",
"owner": "lopsided98", "owner": "NixOS",
"repo": "nixpkgs", "repo": "nixpkgs",
"rev": "6318f538166fef9f5118d8d78b9b43a04bb049e4", "rev": "7df7ff7d8e00218376575f0acdcc5d66741351ee",
"type": "github" "type": "github"
}, },
"original": { "original": {

10
flake.nix
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@@ -2,7 +2,7 @@
description = "Development environment for ASTRA Anchor"; description = "Development environment for ASTRA Anchor";
inputs = { 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!!! nixpkgs.follows = "nix-ros-overlay/nixpkgs"; # IMPORTANT!!!
# specify astra_msgs commit hash to the one we support # specify astra_msgs commit hash to the one we support
astra-msgs.url = "github:SHC-ASTRA/astra_msgs?ref=35d5ac0c2355cd9dc88ac746dbc627108a48bf81"; astra-msgs.url = "github:SHC-ASTRA/astra_msgs?ref=35d5ac0c2355cd9dc88ac746dbc627108a48bf81";
@@ -28,7 +28,7 @@
name = "ASTRA Anchor"; name = "ASTRA Anchor";
packages = with pkgs; [ packages = with pkgs; [
colcon colcon
(python312.withPackages ( (python313.withPackages (
p: with p; [ p: with p; [
pyserial pyserial
pygame pygame
@@ -60,10 +60,12 @@
control-msgs control-msgs
control-toolbox control-toolbox
moveit-core moveit-core
moveit-planners
moveit-common moveit-common
moveit-msgs moveit-msgs
moveit-ros-planning moveit-ros-planning
moveit-ros-planning-interface moveit-ros-planning-interface
moveit-ros-visualization
moveit-configs-utils moveit-configs-utils
moveit-ros-move-group moveit-ros-move-group
moveit-servo moveit-servo
@@ -72,9 +74,9 @@
pilz-industrial-motion-planner pilz-industrial-motion-planner
pick-ik pick-ik
ompl ompl
chomp-motion-planner
joy joy
# ros2-controllers nixpkg does not build :( ros2-controllers
chomp-motion-planner
]; ];
} }
) )

4
src/arm_pkg/arm_pkg/arm_node.py
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@@ -49,7 +49,7 @@ class SerialRelay(Node):
# Create subscribers # Create subscribers
self.man_sub = self.create_subscription( self.man_sub = self.create_subscription(
ArmManual, "/arm/control/manual", self.send_manual, 10 ArmManual, "/arm/control/manual", self.send_manual, 2
) )
# New messages # New messages
@@ -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,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" command += f"can_relay_tovic,digit,28,{msg.laser}\n"

14
src/core_pkg/core_pkg/core_node.py
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@@ -31,14 +31,14 @@ CORE_WHEEL_RADIUS = 0.171 # meters
CORE_GEAR_RATIO = 100.0 # Clucky: 100:1, Testbed: 64:1 CORE_GEAR_RATIO = 100.0 # Clucky: 100:1, Testbed: 64:1
control_qos = qos.QoSProfile( control_qos = qos.QoSProfile(
history=qos.QoSHistoryPolicy.KEEP_LAST, # history=qos.QoSHistoryPolicy.KEEP_LAST,
depth=2, depth=2,
reliability=qos.QoSReliabilityPolicy.BEST_EFFORT, # reliability=qos.QoSReliabilityPolicy.BEST_EFFORT,
durability=qos.QoSDurabilityPolicy.VOLATILE, # durability=qos.QoSDurabilityPolicy.VOLATILE,
deadline=Duration(seconds=1), # deadline=Duration(seconds=1),
lifespan=Duration(nanoseconds=500_000_000), # 500ms # lifespan=Duration(nanoseconds=500_000_000), # 500ms
liveliness=qos.QoSLivelinessPolicy.SYSTEM_DEFAULT, # liveliness=qos.QoSLivelinessPolicy.SYSTEM_DEFAULT,
liveliness_lease_duration=Duration(seconds=5), # liveliness_lease_duration=Duration(seconds=5),
) )
# Used to verify the length of an incoming VicCAN feedback message # Used to verify the length of an incoming VicCAN feedback message

14
src/headless_pkg/src/headless_node.py
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@@ -35,14 +35,14 @@ ARM_STOP_MSG = ArmManual() # "
BIO_STOP_MSG = BioControl() # " BIO_STOP_MSG = BioControl() # "
control_qos = qos.QoSProfile( control_qos = qos.QoSProfile(
history=qos.QoSHistoryPolicy.KEEP_LAST, # history=qos.QoSHistoryPolicy.KEEP_LAST,
depth=2, depth=2,
reliability=qos.QoSReliabilityPolicy.BEST_EFFORT, # reliability=qos.QoSReliabilityPolicy.BEST_EFFORT,
durability=qos.QoSDurabilityPolicy.VOLATILE, # durability=qos.QoSDurabilityPolicy.VOLATILE,
deadline=Duration(seconds=1), # deadline=Duration(seconds=1),
lifespan=Duration(nanoseconds=500_000_000), # 500ms # lifespan=Duration(nanoseconds=500_000_000), # 500ms
liveliness=qos.QoSLivelinessPolicy.SYSTEM_DEFAULT, # liveliness=qos.QoSLivelinessPolicy.SYSTEM_DEFAULT,
liveliness_lease_duration=Duration(seconds=5), # liveliness_lease_duration=Duration(seconds=5),
) )
CORE_MODE = "twist" # "twist" or "duty" CORE_MODE = "twist" # "twist" or "duty"