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fix(arm): correctly control arm

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This commit is contained in:
David
2026-03-26 03:53:38 -05:00
parent cf699da0c6
commit f1c84c3cc5
1 changed files with 29 additions and 3 deletions
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32
src/arm_pkg/arm_pkg/arm_node.py
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@@ -152,6 +152,7 @@ class ArmNode(Node):
# IK Arm pose # IK Arm pose
self.saved_joint_state = JointState() self.saved_joint_state = JointState()
self.saved_joint_state.header.frame_id = "base_link"
self.saved_joint_state.name = self.all_joint_names self.saved_joint_state.name = self.all_joint_names
# ... initialize with zeros # ... initialize with zeros
self.saved_joint_state.position = [0.0] * len(self.saved_joint_state.name) self.saved_joint_state.position = [0.0] * len(self.saved_joint_state.name)
@@ -174,7 +175,32 @@ class ArmNode(Node):
# Deadzone # Deadzone
velocities = [vel if abs(vel) > 0.05 else 0.0 for vel in velocities] velocities = [vel if abs(vel) > 0.05 else 0.0 for vel in velocities]
self.send_velocities(velocities, msg.header) self.anchor_tovic_pub_.publish(
VicCAN(
mcu_name="arm",
command_id=39,
data=velocities[0:4],
header=msg.header,
)
)
self.anchor_tovic_pub_.publish(
VicCAN(
mcu_name="digit",
command_id=39,
data=velocities[4:6],
header=msg.header,
)
)
self.anchor_tovic_pub_.publish(
VicCAN(
mcu_name="digit",
command_id=26,
data=[velocities[6]],
header=msg.header,
)
)
# TODO: use msg.duration # TODO: use msg.duration
@@ -203,12 +229,12 @@ class ArmNode(Node):
# Send Axis 0-3 # Send Axis 0-3
self.anchor_tovic_pub_.publish( self.anchor_tovic_pub_.publish(
VicCAN(mcu_name="arm", command_id=43, data=velocities[0:3], header=header) VicCAN(mcu_name="arm", command_id=43, data=velocities[0:4], header=header)
) )
# Send Wrist yaw and roll # Send Wrist yaw and roll
# TODO: Verify embedded # TODO: Verify embedded
self.anchor_tovic_pub_.publish( self.anchor_tovic_pub_.publish(
VicCAN(mcu_name="digit", command_id=43, data=velocities[4:5], header=header) VicCAN(mcu_name="digit", command_id=43, data=velocities[4:6], header=header)
) )
# Send End Effector Gripper # Send End Effector Gripper
# TODO: Verify m/s received correctly by embedded # TODO: Verify m/s received correctly by embedded