David
a17060ceda
refactor(core): cleanup to match arm
2026-03-20 10:42:18 -05:00
David
ff4a58e6ed
refactor: (headless) finish integrating Core cmd_vel
2026-03-19 20:02:37 -05:00
David
120891c8e5
chore: update astra_msgs to main
2026-03-19 19:49:25 -05:00
David
178d5001d6
Merge remote-tracking branch 'origin/main' into core-ros2-control
2026-03-19 19:45:59 -05:00
David Sharpe
684c2994ec
cmd_vel headless
2026-03-18 01:17:00 -05:00
David Sharpe
e588ff0a7b
Arm topic refactor ( #33 )
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Headless too
2026-03-17 23:34:35 -05:00
David Sharpe
e83642cfe8
style: (arm) fix comment and variable name
2026-03-17 23:07:06 -05:00
David Sharpe
67b3c5bc8f
refactor: (arm) consolidate velocity control VicCAN into single function
2026-03-17 01:44:32 -05:00
David Sharpe
c506a34b37
style: (arm) format
2026-03-17 01:43:22 -05:00
David Sharpe
980c08ba4f
refactor: implement Riley's comments
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- Add @warnings.deprecated decorators to callbacks that use old topics
- Rename "*new*" topics
- Print debug on malformed message receival
- Un-invert Axes 2 & 3 in the URDF
- Don't silently check mcu_name twice
- Remove threading.Thread (not one of Riley's comments)
- Add a real signal handler (ditto)
- Move stamped stop messages to helper functions
2026-03-17 01:14:18 -05:00
David Sharpe
743744edaa
refactor: (headless) change string parameters to bool
2026-03-16 00:39:22 -05:00
David Sharpe
292b3a742d
refactor: (headless) cleanup mainly arm
2026-03-16 00:26:35 -05:00
David Sharpe
62fd1b110d
refactor: remedy QoS profiles
2026-03-08 03:57:28 -05:00
David Sharpe
aaf40124fa
Merge branch 'main' into arm-topic-refactor
2026-03-08 03:56:25 -05:00
David Sharpe
294ae393de
feat: (headless) add new arm manual (JointJog)
2026-03-08 03:29:20 -05:00
David Sharpe
9c9d3d675e
refactor: (headless) reorganize send_controls() into different functions
2026-03-08 01:08:17 -06:00
David Sharpe
6fa47021fc
refactor: (headless) reorganize __init__(), add use_old_topics parameter
2026-03-08 00:42:41 -06:00
David Sharpe
f23d8c62ff
feat: (arm) add use_old_topics parameter
2026-03-08 00:19:06 -06:00
David Sharpe
667247cac8
refactor: (arm) reorganize __init__() and remove run()
2026-03-08 00:10:33 -06:00
David Sharpe
0929cc9503
feat: (arm) add JointJog for manual arm input
2026-03-07 23:55:33 -06:00
David Sharpe
169ab85607
refactor: formalize Arm URDF joint and link names
2026-03-07 16:36:58 -06:00
David Sharpe
bfa0d79840
chore: remove servo_arm_twist_pkg (replaced by headless)
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Not sure why I haven't already done this...
2026-03-02 03:14:21 -06:00
David Sharpe
c766441ff2
fix: (arm) )add timestamp to Socket voltages, change while: pass to thread.join()
2026-03-02 03:13:13 -06:00
David
bfa50e3a25
feat: (core) make compatible with ros2_control
2026-02-26 17:17:05 -06:00
David
90fbbac813
feat: add ros2 control option to main launch for core
2026-02-26 17:17:02 -06:00
David
a3044963e5
feat: (arm) lin ac go back in too
2026-02-14 13:19:49 -06:00
Riley M.
3f68052144
Merge pull request #30 from SHC-ASTRA/update-python
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-> python 3.13
2026-02-09 21:49:08 -05:00
ryleu
c72f72dc32
-> python 3.13
2026-02-08 17:23:53 -06:00
Riley M.
61f5f1fc3e
Merge pull request #29 from SHC-ASTRA/qos-disable
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Qos disable
2026-02-07 18:20:04 -06:00
David
13419e97c9
refactor: (arm) cleanup old standalone serial code
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Removed literally 100 lines
2026-02-04 04:26:50 -06:00
David
51d0e747ad
fix: (headless) make new arm controls useable
2026-02-04 04:00:17 -06:00
David
caa5a637bb
feat: (headless) add arm IK control support
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Only Twist-based so far, no JointJog. need to figure out which frame to send commands in. Currently `base_link`.
2026-02-04 04:00:17 -06:00
David
213105a46b
feat: (headless) add env var to configure stick deadzone
2026-02-04 04:00:17 -06:00
David
7ed2e15908
refactor: (headless) only send stop messages on mode change
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As opposed to constantly sending them always
2026-02-04 04:00:17 -06:00
David
5f5f6e20ba
feat: (headless) add new control scheme for arm
2026-02-04 04:00:17 -06:00
David
8f9a2d566d
style: (arm) format with black (oops)
2026-02-04 04:00:17 -06:00
David
073b9373bc
feat: (arm) add new feedback topic
2026-02-04 04:00:17 -06:00
David
5a4e9c8e53
feat: (arm) add VicCAN feedback section for Digit alongside Socket
2026-02-04 04:00:17 -06:00
David
292873a50a
refactor: (arm) move joint position feedback to VicCAN callback
2026-02-04 04:00:17 -06:00
David
78fef25fdd
fix: (arm) get joint velocity feedback correctly
2026-02-04 04:00:17 -06:00
David
cf4a4b1555
feat: (arm) switch IK control from position to velocity
2026-02-04 04:00:17 -06:00
David
dbbbc28f95
feat: (arm) add rev velocity feedback
2026-02-04 04:00:17 -06:00
David
e644a3cad5
docs: add graphs for individual anchor nodes
2026-02-04 04:00:17 -06:00
David
bf42dbd5af
docs: add rqt_graph outputs to readme
2026-02-04 04:00:17 -06:00
David
b6d5b1e597
feat: (latency_tester) parameterize mcu_name
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ik this is not related to arm stfu this is the everything branch now
2026-02-04 04:00:17 -06:00
David
84d72e291f
chore: update submodules for arm-topic-refactor
2026-02-04 04:00:17 -06:00
David
8250b91c57
feat: (arm) begin adding VicCAN topics
2026-02-04 04:00:17 -06:00
David
ddfceb1b42
feat: add launch config for ptz
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Disable PTZ node with `ros2 launch anchor_pkg rover.launch.py use_ptz:=false` instead of commenting it out
2026-02-04 04:00:17 -06:00
David
ad0266654b
style: (arm) cleanup old topics
2026-02-04 04:00:17 -06:00
David Sharpe
65aab7f179
Fix nix cache ( #27 , fix-cache)
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Fix cache
2026-02-04 02:34:16 -06:00
