375 Commits

This Branch

This Branch

All Branches

Author	SHA1	Message	Date
David	d0f6ecf702	Merge remote-tracking branch 'origin/main' into core-ros2-control	2026-04-08 01:15:16 -05:00
Riley M.	8404999369	Merge pull request #31 from SHC-ASTRA/can-refactor ... Refactor anchor & add direct CAN connector	2026-04-08 00:18:13 -05:00
ryleu	88574524cf	clarify the mock connector usage in the README	2026-04-08 00:15:39 -05:00
ryleu	30bb32a66b	remove extraneous slice	2026-04-08 00:09:04 -05:00
David	010d2da0b6	fix: string number	2026-04-07 23:45:40 -05:00
ryleu	0a257abf43	make the pad 3 -> logic consistent	2026-04-07 23:44:38 -05:00
ryleu	b09b55bee0	fix bug because apparently python has arrays	2026-04-07 22:19:55 -05:00
ryleu	ec7f272934	clean up code	2026-04-07 22:16:08 -05:00
ryleu	bc9183d59a	make mock mcu use VicCAN messages	2026-04-07 21:52:52 -05:00
ryleu	410d3706ed	update README with mock connector instructions	2026-04-02 19:49:07 -05:00
ryleu	89b3194914	update documentation and accept 3-value VicCAN messages	2026-04-02 19:43:10 -05:00
ryleu	4ef226c094	nix fmt	2026-04-01 03:31:21 -05:00
SHC-ASTRA	327539467c	fixed can connector	2026-04-01 02:50:12 -05:00
SHC-ASTRA	e570d371c6	fix a plethora of bugs related to the serial connector	2026-04-01 01:48:40 -05:00
ryleu	2213896494	change is_testbed to rover_platform	2026-03-31 23:01:06 -05:00
David	c42cd39fda	feat(arm): implement ArmCtrlState topic	2026-03-26 12:40:27 -05:00
David	f1c84c3cc5	fix(arm): correctly control arm	2026-03-26 03:53:38 -05:00
David	cf699da0c6	fix(arm): populate missing feedback fields	2026-03-26 02:40:58 -05:00
David	7669ded344	feat(core): add code support for testbed ... Adds parameter `is_testbed`. WIP: still needs support in astra_descriptions; new parameter will not be usable until then. When using an incorrect parameter value, odom will be incorrect and will drive at a scaled speed from requested over cmd_vel.	2026-03-26 02:05:37 -05:00
David	ec12a083f1	feat(core): remove bypass /cmd_vel topic	2026-03-26 01:37:57 -05:00
David	ea36ce6ef4	fix(core): populate missing values in /core/feedback_new	2026-03-26 00:40:11 -05:00
David	3f795bf8ed	chore(core): remove core_headless	2026-03-24 15:44:30 -05:00
David	b257dc7556	fix: update ros2 plumbing files	2026-03-24 15:41:00 -05:00
David	45825189a5	fix(core): populate CoreFeedback Header stamp	2026-03-23 21:57:48 -05:00
ryleu	f7efa604d2	finish adding parameters	2026-03-23 20:39:50 -05:00
ryleu	fe46a2ab4d	fix wrong order for initialization	2026-03-23 13:25:13 -05:00
ryleu	941e196316	implement review comments	2026-03-21 18:14:44 -05:00
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
ryleu	7a3c4af1ce	remove .envrc sourcing of install	2026-03-18 23:28:49 -05:00
ryleu	5e5a52438d	black fmt	2026-03-18 23:22:42 -05:00
David Sharpe	684c2994ec	cmd_vel headless	2026-03-18 01:17:00 -05:00
ryleu	c814f34ca6	rewrite the launch file	2026-03-18 00:12:42 -05:00
ryleu	ce39d0aeb9	Merge remote-tracking branch 'origin/main' into can-refactor	2026-03-17 23:57:38 -05:00
ryleu	9b96244a1b	add can support	2026-03-17 23:52:37 -05:00
David Sharpe	e588ff0a7b	Arm topic refactor (#33) ... 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 ... - 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