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Merge branch 'main' into arm-topic-refactor

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This commit is contained in:
David Sharpe
2026-03-08 03:56:25 -05:00
parent 294ae393de 3f68052144
commit aaf40124fa
4 changed files with 16 additions and 16 deletions
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2
flake.nix
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@@ -25,7 +25,7 @@
name = "ASTRA Anchor";
packages = with pkgs; [
colcon
(python312.withPackages (
(python313.withPackages (
p: with p; [
pyserial
pygame

2
src/arm_pkg/arm_pkg/arm_node.py
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@@ -233,7 +233,7 @@ class ArmNode(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"

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
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

14
src/headless_pkg/src/headless_node.py
View File

@@ -37,14 +37,14 @@ 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),
)
arm_ik_qos = qos.QoSProfile(