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
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
