SHC-ASTRA
0e775c65c6
add trying multiple controllers to headless
2026-01-14 04:56:55 -06:00
David
df78575206
feat: (headless) add Ctrl+C try-except
2025-12-13 16:23:42 -06:00
David
40fa0d0ab8
style: (anchor) better comment serial finding
2025-11-21 17:06:37 -06:00
David
3bb3771dce
fix: (anchor) ignore UnicodeDecodeError when getting mcu name
2025-11-11 13:18:36 -06:00
David
5e7776631d
feat: (anchor) add new Serial finder code
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Uses vendor and product ids to find a microcontroller, and detects its name after connecting. Upon failure, falls back to Areeb's code--just in case.
Also renamed `self.ser` to `self.serial_interface` and `self.port` to `self.serial_port` for clarity.
2025-11-10 23:24:14 -06:00
David
b84ca6757d
refactor: (anchor) cleanup structural ros2 code
2025-11-10 22:45:43 -06:00
David
96f5eda005
feat: (headless) detect incorrectly connected controller
2025-11-10 22:02:49 -06:00
David
4c1416851e
style: move pub/sub docs comment, rename SerialPub to Anchor
2025-11-10 21:58:03 -06:00
ryleu
d7fd133586
updated to astra_msgs
2025-11-06 21:35:47 -06:00
ryleu
c107b82a8d
reformat with black
2025-11-06 19:10:21 -06:00
David
611ac90f54
style: cleanup servo_arm_twist_pkg CMakeLists
2025-10-25 11:15:32 -05:00
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
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
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
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
414254b3b7
add a PORT_OVERRIDE env var
2025-10-18 02:35:09 -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
