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
fe1ae6120f
feat: all the features
...
* 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
ryleu
c4f60d6814
clean up nitpicks
2025-10-23 00:52:19 -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
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
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
8b8ff69c27
chore: update ros2_interfaces_pkg to v1.1
...
No real difference, just made the PR and release
2025-10-09 22:11:29 -05:00
David
ebd07258f0
refactor: replace speed_mode with max_duty for core control
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Makes it make more sense
2025-10-09 16:19:34 -05:00
David
0e256c7d22
feat: add agpl-3.0-only license
2025-10-04 23:24:23 -05:00
David
b1f4fe8320
refactor: change Core commands to VicCAN
2025-09-29 10:29:01 -05:00
David
75d1a841bb
feat: add VicCAN topics to Core, sync Core with PDR
2025-09-28 19:30:40 -05:00
David
660ceb560d
feat: populate motor status timestamps
2025-09-10 23:57:21 -05:00
David
abcb9b9a4d
feat: fully add NewCoreFeedback to core_pkg, including REV pos/vel
2025-09-10 23:00:17 -05:00
David
d5ba9ad721
feat: add speed and brake mode control
...
Speed mode is set with bumpers, brake mode is set with 'A' button. Implemented through /core/control/state topic with custom message CoreCtrlState.
Also added Core measurements from Gabe, and did some general refactoring.
2025-09-10 10:49:51 -05:00
David
93226203f1
style: clean up core and headless
2025-09-09 20:12:46 -05:00
David
4c972e6264
fix: correctly account for neg linear
...
Rover couldn't drive forwards lmao... Now correctly inverts turning direction when driving backwards... Could use some work tho, a little confusing rn.
Also got some rough measurements from the rover with a tape measurement, updated wheelbase and wheel radius.
2025-09-09 12:51:48 -05:00
David
bac9b3cbe0
fix: correct turning direction
2025-09-08 23:01:40 -05:00
David
0c1a368499
feat: add Twist support to headless and core_pkg
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Left stick y is forward/backward, right stick x is turn/angular. Still uses duty cycle. Published on /core/twist. On headless, needs CORE_MODE constant changed to "twist" to use new Twist command.
Also added TwistStamped to core_pkg for /cmd_vel. Will use velocity control. Needs wheel measurements from Core CAD. Will be used for Autonomy.
2025-09-08 09:51:25 -05:00
David
056ffd1eb6
feat: add Twist and Imu messages to Core
2025-09-07 20:04:01 -05:00
David
4e1e0e29dd
style: get ready for main
2025-08-12 08:49:12 -05:00
David
cdc2c7e703
refactor: post-comp IK testing
2025-07-24 00:07:06 -05:00
Tristan McGinnis
dde9d61a33
fix formatting for anchor print statements in arm and core
2025-07-23 23:03:23 -05:00
Tristan McGinnis
0c3f27667a
SIGSTP no longer does sys.exit()
2025-07-23 22:59:45 -05:00
Tristan McGinnis
8c4f75f75e
feat: nodes should die entirely if no MCU found
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This should allow anchor to restart automatically if it's being run as a service
2025-07-23 22:59:45 -05:00
David
48b0f7e1f9
fix: replace int() with round(float()) for core motor feedback
2025-05-31 01:05:11 +00:00
Tristan McGinnis
822f84c1c1
Remove /10.0 on heading for core feedback
2025-05-30 19:01:50 -06:00
David
5f708a2002
feat: add rev motor feedback for core
2025-05-30 03:02:01 +00:00
Tristan McGinnis
80d59cc275
reorganize core headless node for usage as a service
2025-05-28 22:57:38 -06:00
Tristan McGinnis
b06194053c
invert controls for sticks on core headless, set max speed up to 90
2025-05-28 22:44:56 -06:00
Tristan McGinnis
3516d36294
subup, update core to add gps altitude
2025-05-28 10:10:59 -06:00
Tristan McGinnis
4df319cb1b
Merge branch 'bio-linac' into ptz-node
2025-05-27 15:47:59 -06:00
David
bff729f25a
style: add a few type annotations
2025-05-27 19:59:13 +00:00
ryleu
a4d3f0dfbe
no idea if this works, thanks gemini
2025-05-27 00:39:52 -05:00
Tristan McGinnis
9d10607b2e
Remove logger() outputs and assume always connected to prevent breaking
2025-05-25 21:21:28 -06:00
Tristan McGinnis
7d9ca314a7
Functional PTZ control node
2025-05-25 20:43:49 -06:00
David
7027900620
fix: round float imu_calib
2025-05-26 02:36:51 +00:00
David
9f3ff0f8df
fix: interface names
2025-05-26 02:34:16 +00:00
Tristan McGinnis
3ed821f4fb
ai draft of ptz control code
2025-05-25 18:08:56 -06:00
David
f34ef88d6c
feat: add brake mode to core
2025-05-24 16:03:33 +00:00
David
6b0ea58e95
feat: add imu calibration for core
2025-05-24 00:02:28 +00:00
David Sharpe
4a9a0bfb0d
feat: add auto turnto function ( #9 )
...
* Subup
* subup interface pkg again
* Add turnto check in core_node
* fix cpp syntax oops
---------
Co-authored-by: Tristan McGinnis <tristanmcginnis26@gmail.com >
2025-05-22 23:37:44 -05:00
Tristan McGinnis
81558b9f48
add core feedback functionality (ANCHOR)
2025-05-10 12:24:13 -05:00
David Sharpe
a7a482bd0f
feat: unflip left_stick for core control
2025-04-25 18:42:57 -05:00
Tristan McGinnis
f11b9123ea
enable relay mode on core on startup
2025-03-29 11:37:30 -05:00
