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
David
8b8ff69c27
chore: update ros2_interfaces_pkg to v1.1
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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
b62060026c
style: minor edits based on riley's comments
2025-10-04 23:08:04 -05:00
David
924509b733
fix: add ptz back to rover_launch.py
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oopsies
2025-10-04 23:06:50 -05:00
David
36da0203bc
fix: make turning input curve less aggressive
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^2 instead of ^3. Not tested, hopefully makes it a lil better
2025-10-01 21:49:40 -05:00
David
87b2ab6f8c
fix!: remove bio from headless
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Slows down controls too much, going to need to figure something out for speeding that up
2025-10-01 11:18:31 -05:00
David
e5af28af3a
feat: add Core URDF with basic Gazebo sim
2025-09-30 17:49:01 -05:00
David
8c5287158d
fix: arm/bio headless works again
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I hate python
2025-09-30 11:56:05 -05:00
David
97fa17a4a8
feat: add bio to headless
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NOTE: UNTESTED
2025-09-29 11:34:35 -05:00
David
644459ec71
style: explain anchor topics in comment block
2025-09-29 11:09:05 -05:00
David
b1f4fe8320
refactor: change Core commands to VicCAN
2025-09-29 10:29:01 -05:00
David
a25983126f
refactor: move headless globals to class vars
2025-09-29 09:25:07 -05:00
David
647ff34fa5
feat: add rumble on headless mode switch (core/arm)
2025-09-29 09:16:43 -05:00
David
75d1a841bb
feat: add VicCAN topics to Core, sync Core with PDR
2025-09-28 19:30:40 -05:00
David
7992acf60f
feat: add VicCAN topics to Anchor
2025-09-28 19:22:56 -05:00
David
75fefa7048
fix: typo in latency tester
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Also bump package ver.
Finishes latency_tester for now, it is functional, now we just need to use it.
2025-09-26 16:11:49 -05:00
David Sharpe
2a797693a2
Add Nix flake
2025-09-17 22:40:52 -05:00
David
49b8acc860
feat: control wrist yaw and roll at same time
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Also made start_rosbag.sh actually executable ._.
2025-09-15 11:43:22 -05:00
David
00be1cef52
fix: make headless rumble stronger
2025-09-11 18:33:30 -05:00
David
64405e3a0b
feat: start rosbag on boot
2025-09-11 15:56:20 -05:00
David
9370b91c7e
style: move systemd services to a folder
2025-09-11 13:32:34 -05:00
David
660ceb560d
feat: populate motor status timestamps
2025-09-10 23:57:21 -05:00
David
5f8a4a0ca7
feat: add latency_tester to test comms latency
2025-09-10 23:00:40 -05:00
David
abcb9b9a4d
feat: fully add NewCoreFeedback to core_pkg, including REV pos/vel
2025-09-10 23:00:17 -05:00
David
858e03f385
feat: add rumble on headless ready, change turn to cubic
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Controller rumbles for 200ms when __init__() finishes, and angular is now cubic so turning control follows a curve rather than a straight line (y=x^3 instead of y=x)
2025-09-10 22:59:27 -05:00
David
882cbc5949
fix: -float is not float???
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Tested with controller but on Clucky
2025-09-10 22:46:27 -05:00
David
d5ba9ad721
feat: add speed and brake mode control
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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
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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 Sharpe
8868408ac3
feat: add arm support to headless (headless_combine #16 )
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Create new headless_pkg with Core + Arm
Toggle with dpad up/down; up for arm, down for core
2025-09-07 19:11:12 -05:00
David
5461fbab11
fix: round() is not float ._.
2025-09-02 12:24:38 -05:00
David
a0db7f62bc
refactor: move auto_start folder into rover-ros2 from home dir
2025-09-02 02:56:50 -05:00
David
caf20f46f6
refactor: poll controller state all at once, add deadzones
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UNTESTED
Also adds ability to control axis 0 while controlling wrist
2025-09-02 02:43:38 -05:00
David
d3dbbf8658
style: fix author stuff for headless_pkg
2025-08-28 18:55:22 -05:00
David
4254ecc4ce
fix: python float/int for /core/control
2025-08-22 16:41:54 -05:00
David Sharpe
10757c8c71
fix: names in ROS2 files were incorrect for headless_full, add new service files for NUC
2025-08-21 16:31:59 -05:00
David Sharpe
37774c0c31
feat: add systemd files from NUC
2025-08-21 15:26:53 -05:00
David Sharpe
5c0cd926da
feat: add Tristan's IK with ikpy ( #15 ik_dev)
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Add IK (Tristan's work)
Slow, but works. Takes a 3d displacement vector in meters for direction that the arm should be moving. Provides target joint angles that embedded drives the axes to.
2025-08-18 12:14:05 -05:00
David Sharpe
826f14725a
feat: create headless_pkg, combine core and arm headless
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Toggleable with Dpad up/down
2025-08-17 09:33:28 -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
