David
01ea43968d
feat: add moveit packages to flake.nix
2025-10-25 11:15:32 -05:00
David
4ce183773d
feat: finish removing old ikpy-based IK
2025-10-25 11:15:32 -05:00
David
3413615461
chore: remove astra_descriptions packages directly in src/
2025-10-25 11:15:31 -05:00
ryleu
9125391de9
remove ikpy (and reformat the code files)
2025-10-25 11:15:31 -05:00
David
981b0b166c
style: rename arm urdf packages
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* rover_urdf_pkg -> arm_description
* astra_arm_moveit_config -> arm_moveit_config
2025-10-25 11:15:31 -05:00
David
9471992d3b
feat: add controller support
2025-10-25 11:15:31 -05:00
David Sharpe
9579b64cb0
refactor: remove arm_hardware_controller lmao
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Using premade topic based controller instead
2025-10-25 11:15:31 -05:00
David Sharpe
d92ca3ae5a
fix: remove spaces from link names to support Jammy
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Viz doesn't work when the links have spaces in their names on Jammy ._.
2025-10-25 11:15:31 -05:00
David Sharpe
d72a9a3b5e
feat: make Moveit2 demo talk to arm_pkg
2025-10-25 11:15:31 -05:00
David Sharpe
1b05202efa
feat: add arm_hardware_controller to act as a hardware interface for IK
2025-10-25 11:15:31 -05:00
David Sharpe
508fa8e2ae
fix: grippers now act correctly
2025-10-25 11:15:31 -05:00
David Sharpe
77bf59d5fd
fix: move roll joint to arm pose group, add real velocity limit to grippers
2025-10-25 11:15:31 -05:00
David Sharpe
0d09c81802
fix: remove space from joint name
2025-10-25 11:15:31 -05:00
David Sharpe
fa10027e2d
refactor: re-ran setup assistant
2025-10-25 11:15:31 -05:00
David Sharpe
bb2dda02a2
feat: add moveit2 configuration
2025-10-25 11:15:31 -05:00
David Sharpe
c0d39aa3a6
fix: make colcon build the new urdf package
2025-10-25 11:15:30 -05:00
David Sharpe
6671f290e5
feat: add new Arm URDF from SW in ROS1 package format
2025-10-25 11:15:30 -05:00
David Sharpe
2db9b67ebc
feat: add viz code from Tristan's ik_test and add CAD to URDF
2025-10-25 11:15:30 -05:00
David Sharpe
1281236b36
fix: I hate python ( #21 )
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BioControl.drill expects an int, have to explicitly cast to an int or headless will crash
Makes main branch functional
2025-10-25 11:10:07 -05:00
Riley M.
281e5f39d3
Merge pull request #18 from SHC-ASTRA/ros2-control
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Flesh out ros2_control with Gazebo
2025-10-23 03:33:16 -05:00
David
fe1ae6120f
feat: all the features
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* Move rover-ros2/rover_launch.py to src/anchor_pkg/launch/, renamed to rover.launch.py
* Anchor now waits to initialize topics until after it has found a microcontroller.
* Headless now waits for anchor to start before it starts itself
* Add default cases to motor feedback for motorId
* Added black to the flake.nix and package.xml
2025-10-23 02:22:31 -05:00
David
44aa4b0848
feat: ramp drill speed
2025-10-23 01:00:13 -05:00
ryleu
c4f60d6814
clean up nitpicks
2025-10-23 00:52:19 -05:00
ryleu
87e3f06562
add direnv .envrc
2025-10-22 23:47:50 -05:00
David
cc53e6efd6
chore: update astra_descriptions
2025-10-22 23:40:04 -05:00
David
d879a3bae4
feat: add drill to bio headless
2025-10-21 10:41:34 -05:00
David
ed7efb4583
fix: ptz now works in flake
2025-10-18 12:28:53 -05:00
David
2165003f35
fix: msg len requirements now account for viccan packaging
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There are no viccan messages with len(data) == 3, only 1, 2, or 4
2025-10-18 12:17:45 -05:00
ryleu
95ceecacaa
do not build in shellHook
2025-10-18 02:39:08 -05:00
ryleu
414254b3b7
add a PORT_OVERRIDE env var
2025-10-18 02:35:09 -05:00
ryleu
a63a3b19af
fix python deps
2025-10-18 02:24:19 -05:00
David
b12515bf11
fix: rover can turn left again
2025-10-18 02:09:50 -05:00
David
8c01efeaf7
fix: make cmd_vel QoS compatible with everything else
2025-10-18 01:48:30 -05:00
David Sharpe
aa84667aab
feat: add depencies to packages.xml files, add packages to flake.nix
2025-10-17 18:06:54 -05:00
David
7ac250fd66
fix: correct descriptions submodule name
2025-10-16 18:05:13 -05:00
David
a7ec355c4f
style: move description files to new repo (astra_descriptions)
2025-10-16 18:03:43 -05:00
David
05af7f9be4
style: rename core_rover_description to core_description
2025-10-16 16:21:13 -05:00
David
5e8b60f720
style: move core_rover_description and core_gazebo into new astra_description folder
2025-10-16 12:33:10 -05:00
David
b9a63126e1
fix: correctly spawn controllers
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models was commented out in CMakeLists.txt because it is currently an empty directory, but will be used at a later point
2025-10-16 12:16:49 -05:00
David
a58f9b6ada
feat: make frames work properly, rviz is now accurate
2025-10-15 02:31:47 -05:00
David
89015ee7a5
feat: add VicCAN message validity checking and core feedback data length checking
2025-10-14 15:21:23 -05:00
David
d565dbe31f
refactor: change msg.command_id from if elif to match case
2025-10-14 13:49:53 -05:00
David
2d258b3103
refactor: new feedback topics use default sensor data QoS
2025-10-14 13:45:10 -05:00
David
86d01c29e3
fix: add gear ratio to JointState
2025-10-14 11:47:23 -05:00
David
366f1e0c58
feat: add joint_state pub to Core for wheel position and velocity
2025-10-13 21:50:09 -05:00
David
6bbb5d8706
refactor: make diff_controller listen on /core/rwist
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Now you can control it with headless or teleop_keyboard_twist
2025-10-10 23:37:19 -05:00
David
676f86bcd0
feat: make ros2 controllers start automatically
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Adds load_ros2_controllers.launch.py
Weird issue where if the update rate on the controller is 10, then the controller manager doesn't respond to requests, but if you set it to 100 (still less than gazebo's rate), then it works...
2025-10-10 18:58:30 -05:00
David
723aa33e3c
fix: make work slightly more consistently
2025-10-10 14:16:47 -05:00
David
86684b0bff
feat: add ros2_control to Core URDF
2025-10-10 02:22:12 -05:00
David Sharpe
e70a10a191
feat: refactor Core topics and add VicCAN ( #17 , topic-refactor)
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Refactor Core, Anchor, and Headless with new message types
Add Core URDF and extremely basic Gazebo sim files
Bump ros2_interfaces_pkg to v1.1
2025-10-09 22:14:43 -05:00
