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
...
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
...
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
...
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)
...
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
...
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
...
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
...
oopsies
2025-10-04 23:06:50 -05:00
David
36da0203bc
fix: make turning input curve less aggressive
...
^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
...
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
...
I hate python
2025-09-30 11:56:05 -05:00
David
97fa17a4a8
feat: add bio to headless
...
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
...
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
...
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
...
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???
...
Tested with controller but on Clucky
2025-09-10 22:46:27 -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
...
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
