try new zoom cmd id

src/anchor_pkg/anchor_pkg/anchor_node.py

@@ -7,7 +7,6 @@ import time
 import atexit
 
 import serial
-import os
 import sys
 import threading
 import glob
@@ -46,7 +45,6 @@ class SerialRelay(Node):
                     #(f"Checking port {port}...")
                     ser.write(b"ping\n")
                     response = ser.read_until("\n")
-                    ser.write(b"can_relay_mode,on\n")
 
                     # if pong is in response, then we are talking with the MCU
                     if b"pong" in response:
@@ -90,12 +88,11 @@ class SerialRelay(Node):
                 #self.get_logger().info(f"[MCU] {output}")
                 msg = String()
                 msg.data = output
-                self.debug_pub.publish(msg)
                 if output.startswith("can_relay_fromvic,core"):
                     self.core_pub.publish(msg)
                 elif output.startswith("can_relay_fromvic,arm") or output.startswith("can_relay_fromvic,digit"):  # digit for voltage readings
                     self.arm_pub.publish(msg)
-                if output.startswith("can_relay_fromvic,citadel") or output.startswith("can_relay_fromvic,digit"):  # digit for SHT sensor
+                elif output.startswith("can_relay_fromvic,citadel") or output.startswith("can_relay_fromvic,digit"):  # digit for SHT sensor
                     self.bio_pub.publish(msg)
                 # msg = String()
                 # msg.data = output
@@ -106,19 +103,19 @@ class SerialRelay(Node):
             print("Closing serial port.")
             if self.ser.is_open:
                 self.ser.close()
-            exit(1)
+            self.exit(1)
         except TypeError as e:
             print(f"TypeError: {e}")
             print("Closing serial port.")
             if self.ser.is_open:
                 self.ser.close()
-            exit(1)
+            self.exit(1)
         except Exception as e:
             print(f"Exception: {e}")
-            # print("Closing serial port.")
+            print("Closing serial port.")
-            # if self.ser.is_open:
+            if self.ser.is_open:
-            #     self.ser.close()
+                self.ser.close()
-            # exit(1)
+            self.exit(1)
 
     def send_cmd(self, msg):
         message = msg.data
@@ -150,6 +147,6 @@ def main(args=None):
     serial_pub.run()
 
 if __name__ == '__main__':
-    #signal.signal(signal.SIGTSTP, lambda signum, frame: sys.exit(0))  # Catch Ctrl+Z and exit cleanly
+    signal.signal(signal.SIGTSTP, lambda signum, frame: sys.exit(0))  # Catch Ctrl+Z and exit cleanly
     signal.signal(signal.SIGTERM, lambda signum, frame: sys.exit(0))  # Catch termination signals and exit cleanly
     main()

src/arm_pkg/arm_pkg/arm_headless.py

@@ -42,7 +42,7 @@ class Headless(Node):
         # Depricated, kept temporarily for reference
         #self.subscriber = self.create_subscription(String, '/astra/arm/feedback', self.read_feedback, 10)
 
-        #self.debug_sub = self.create_subscription(String, '/arm/feedback/debug', self.read_feedback, 10)
+        self.debug_sub = self.create_subscription(String, '/arm/feedback/debug', self.read_feedback, 10)
 
 
         self.laser_status = 0
@@ -81,14 +81,14 @@ class Headless(Node):
             while rclpy.ok():
                 #Check the pico for updates
 
-                #self.read_feedback()
+                self.read_feedback()
                 if pygame.joystick.get_count() == 0: #if controller disconnected, wait for it to be reconnected
                     print(f"Gamepad disconnected: {self.gamepad.get_name()}")
                     
                     while pygame.joystick.get_count() == 0:
                         #self.send_controls() #depricated, kept for reference temporarily
                         self.send_manual()
-                        #self.read_feedback()
+                        self.read_feedback()
                     self.gamepad = pygame.joystick.Joystick(0)
                     self.gamepad.init() #re-initialized gamepad
                     print(f"Gamepad reconnected: {self.gamepad.get_name()}")
@@ -142,7 +142,7 @@ class Headless(Node):
                 input.axis0 = -1
 
             if self.gamepad.get_axis(0) > .15 or self.gamepad.get_axis(0) < -.15:
-                input.axis1 = round(self.gamepad.get_axis(0))
+                input.axis1 = -1 * round(self.gamepad.get_axis(0))
 
             if self.gamepad.get_axis(1) > .15 or self.gamepad.get_axis(1) < -.15:
                 input.axis2 = -1 * round(self.gamepad.get_axis(1))
@@ -268,6 +268,22 @@ class Headless(Node):
     #         pass
 
 
+            
+
+
+    def read_feedback(self, msg):
+        
+        # Create a string message object
+        #msg = String()
+
+        # Set message data
+        #msg.data = output
+
+        # Publish data
+        #self.publisher.publish(msg.data)
+        
+        print(f"[MCU] {msg.data}", end="")
+        #print(f"[Pico] Publishing: {msg}")
 
         
 

src/arm_pkg/arm_pkg/arm_node.py

@@ -1,6 +1,5 @@
 import rclpy
 from rclpy.node import Node
-from rclpy import qos
 import serial
 import sys
 import threading
@@ -14,34 +13,9 @@ from ros2_interfaces_pkg.msg import ArmIK
 from ros2_interfaces_pkg.msg import SocketFeedback
 from ros2_interfaces_pkg.msg import DigitFeedback
 
-
-# IK-Related imports
-import numpy as np
-import time, math, os
-from math import sin, cos, pi
-from ament_index_python.packages import get_package_share_directory
-# from ikpy.chain import Chain
-# from ikpy.link import OriginLink, URDFLink
-# #import pygame as pyg
-# from scipy.spatial.transform import Rotation as R
-
-from . import astra_arm
-
-# control_qos = qos.QoSProfile(
-#     history=qos.QoSHistoryPolicy.KEEP_LAST,
-#     depth=1,
-#     reliability=qos.QoSReliabilityPolicy.BEST_EFFORT,
-#     durability=qos.QoSDurabilityPolicy.VOLATILE,
-#     deadline=1000,
-#     lifespan=500,
-#     liveliness=qos.QoSLivelinessPolicy.SYSTEM_DEFAULT,
-#     liveliness_lease_duration=5000
-# )
-
 serial_pub = None
 thread = None
 
-
 class SerialRelay(Node):
     def __init__(self):
         # Initialize node
@@ -56,20 +30,17 @@ class SerialRelay(Node):
         self.debug_pub = self.create_publisher(String, '/arm/feedback/debug', 10)
         self.socket_pub = self.create_publisher(SocketFeedback, '/arm/feedback/socket', 10)
         self.digit_pub = self.create_publisher(DigitFeedback, '/arm/feedback/digit', 10)
-        self.feedback_timer = self.create_timer(0.25, self.publish_feedback)
+        self.feedback_timer = self.create_timer(1.0, self.publish_feedback)
 
         # Create subscribers
-        self.ik_sub = self.create_subscription(ArmIK, '/arm/control/ik', self.send_ik, 10)
+        self.ik_sub = self.create_subscription(ArmIK, '/arm/control/ik', self.send_ik, 10) 
         self.man_sub = self.create_subscription(ArmManual, '/arm/control/manual', self.send_manual, 10)
 
-        self.ik_debug = self.create_publisher(String, '/arm/debug/ik', 10)
-
         # Topics used in anchor mode
         if self.launch_mode == 'anchor':
             self.anchor_sub = self.create_subscription(String, '/anchor/arm/feedback', self.anchor_feedback, 10)
             self.anchor_pub = self.create_publisher(String, '/anchor/relay', 10)
 
-        self.arm = astra_arm.Arm('arm12.urdf')
         self.arm_feedback = SocketFeedback()
         self.digit_feedback = DigitFeedback()
 
@@ -85,7 +56,7 @@ class SerialRelay(Node):
                         ser = serial.Serial(port, 115200, timeout=1)
                         #print(f"Checking port {port}...")
                         ser.write(b"ping\n")
-                        response = ser.read_until("\n")  # type: ignore
+                        response = ser.read_until("\n")
 
                         # if pong is in response, then we are talking with the MCU
                         if b"pong" in response:
@@ -153,117 +124,57 @@ class SerialRelay(Node):
             pass
 
     def send_ik(self, msg):
-        # Convert Vector3 to a NumPy array
+        pass
-        input_raw = np.array([-msg.movement_vector.x, msg.movement_vector.y, msg.movement_vector.z])  # Convert input to a NumPy array
-        # decrease input vector by 90%
-        input_raw = input_raw * 0.2
 
-        if input_raw[0] == 0.0 and input_raw[1] == 0.0 and input_raw[2] == 0.0:
+    def send_manual(self, msg):
-            self.get_logger().info("No input, stopping arm.")
-            command = "can_relay_tovic,arm,39,0,0,0,0\n"
-            self.send_cmd(command)
-            return
-
-        # Debug output
-        tempMsg = String()
-        tempMsg.data = "From IK Control Got Vector: " + str(input_raw)
-        #self.debug_pub.publish(tempMsg)
-
-        # Target position is current position + input vector
-        current_position = self.arm.get_position_vector()
-        target_position = current_position + input_raw
-
-
-        #Print for IK DEBUG
-        tempMsg = String()
-        # tempMsg.data = "Current Position: " + str(current_position) + "\nInput Vector" + str(input_raw) + "\nTarget Position: " + str(target_position) + "\nAngles: " + str(self.arm.current_angles)
-        tempMsg.data = "Current Angles: " + str(math.degrees(self.arm.current_angles[2])) + ", " + str(math.degrees(self.arm.current_angles[4])) + ", " + str(math.degrees(self.arm.current_angles[6]))
-        self.ik_debug.publish(tempMsg)
-        self.get_logger().info(f"[IK] {tempMsg.data}")
-
-        # Debug output for current position
-        #tempMsg.data = "Current Position: " + str(current_position)
-        #self.debug_pub.publish(tempMsg)
-
-        # Debug output for target position
-        #tempMsg.data = "Target Position: " + str(target_position)
-        #self.debug_pub.publish(tempMsg)
-
-        # Perform IK with the target position
-        if self.arm.perform_ik(target_position, self.get_logger()):
-            # Send command to control
-            
-            #command = "can_relay_tovic,arm,32," + ",".join(map(str, self.arm.ik_angles[:4])) + "\n"
-            #self.send_cmd(command)
-            self.get_logger().info(f"IK Success: {target_position}")
-            self.get_logger().info(f"IK Angles: [{str(round(math.degrees(self.arm.ik_angles[2]), 2))}, {str(round(math.degrees(self.arm.ik_angles[4]), 2))}, {str(round(math.degrees(self.arm.ik_angles[6]), 2))}]")
-
-            # tempMsg = String()
-            # tempMsg.data = "IK Success: " + str(target_position)
-            # #self.debug_pub.publish(tempMsg)
-            # tempMsg.data = "Sending: " + str(command)
-            #self.debug_pub.publish(tempMsg)
-
-            # Send the IK angles to the MCU
-            command = "can_relay_tovic,arm,32," + f"{math.degrees(self.arm.ik_angles[0])*10},{math.degrees(self.arm.ik_angles[2])*10},{math.degrees(self.arm.ik_angles[4])*10},{math.degrees(self.arm.ik_angles[6])*10}" + "\n"
-            # self.send_cmd(command)
-
-            # Manual control for Wrist/Effector
-            command += "can_relay_tovic,digit,35," + str(msg.effector_roll) + "\n"
-            
-            command += "can_relay_tovic,digit,36,0," + str(msg.effector_yaw) + "\n"
-
-            command += "can_relay_tovic,digit,26," + str(msg.gripper) + "\n"
-
-            command += "can_relay_tovic,digit,28," + str(msg.laser) + "\n"
-
-            self.send_cmd(command)
-        else:
-            self.get_logger().info("IK Fail")
-            self.get_logger().info(f"IK Angles: [{str(math.degrees(self.arm.ik_angles[2]))}, {str(math.degrees(self.arm.ik_angles[4]))}, {str(math.degrees(self.arm.ik_angles[6]))}]")
-            # tempMsg = String()
-            # tempMsg.data = "IK Fail"
-            #self.debug_pub.publish(tempMsg)
-
-
-    def send_manual(self, msg: ArmManual):
         axis0 = msg.axis0
         axis1 = -1 * msg.axis1
         axis2 = msg.axis2
         axis3 = msg.axis3
 
         #Send controls for arm
-        command = "can_relay_tovic,arm,18," + str(int(msg.brake)) + "\n"
+        command = "can_relay_tovic,arm,39," + str(axis0) + "," + str(axis1) + "," + str(axis2) + "," + str(axis3) + "\n"
-        command += "can_relay_tovic,arm,39," + str(axis0) + "," + str(axis1) + "," + str(axis2) + "," + str(axis3) + "\n"
+        #self.send_cmd(command)
         
         #Send controls for end effector
         command += "can_relay_tovic,digit,35," + str(msg.effector_roll) + "\n"
-
+        #self.send_cmd(command)
-
+        
         command += "can_relay_tovic,digit,36,0," + str(msg.effector_yaw) + "\n"
-
+        #self.send_cmd(command)
 
         command += "can_relay_tovic,digit,26," + str(msg.gripper) + "\n"
-
+        #self.send_cmd(command)
 
         command += "can_relay_tovic,digit,28," + str(msg.laser) + "\n"
-
-        command += "can_relay_tovic,digit,34," + str(msg.linear_actuator) + "\n"
-
         self.send_cmd(command)
+        
+        
+        
+        #print(f"[Wrote] {command}", end="")
+
+    #Not yet finished, needs embedded implementation for new commands
+        # ef_roll = msg.effector_roll
+        # ef_yaw = msg.effector_yaw
+        # gripper = msg.gripper
+        # actuator = msg.linear_actuator
+        # laser = msg.laser
+        # #Send controls for digit
+
+        # command = "can_relay_tovic,digit," + str(ef_roll) + "," + str(ef_yaw) + "," + str(gripper) + "," + str(actuator) + "," + str(laser) + "\n"
 
         return
     
-    def send_cmd(self, msg: str):
+    def send_cmd(self, msg):
         if self.launch_mode == 'anchor': #if in anchor mode, send to anchor node to relay
             output = String()
             output.data = msg
             self.anchor_pub.publish(output)
         elif self.launch_mode == 'arm': #if in standalone mode, send to MCU directly
-            self.get_logger().info(f"[Arm to MCU] {msg.data}")
+            self.get_logger().info(f"[Arm to MCU] {msg}")
             self.ser.write(bytes(msg, "utf8"))
 
-    def anchor_feedback(self, msg: String):
+    def anchor_feedback(self, msg):
         output = msg.data
         if output.startswith("can_relay_fromvic,arm,55"):
             #pass
@@ -272,6 +183,7 @@ class SerialRelay(Node):
             #pass
             self.updateBusVoltage(output)
         elif output.startswith("can_relay_fromvic,arm,53"):
+            #pass
             self.updateMotorFeedback(output)
         elif output.startswith("can_relay_fromvic,digit,54"):
             parts = msg.data.split(",")
@@ -293,17 +205,17 @@ class SerialRelay(Node):
         self.socket_pub.publish(self.arm_feedback)
         self.digit_pub.publish(self.digit_feedback)
 
-    def updateAngleFeedback(self, msg: str):
+    def updateAngleFeedback(self, msg: String):
-        # Angle feedbacks,
+                # Angle feedbacks,
-        # split the msg.data by commas
+        #split the msg.data by commas
-        parts = msg.split(",")
+        parts = msg.data.split(",")
         
         if len(parts) >= 7:
             # Extract the angles from the string
             angles_in = parts[3:7]
             # Convert the angles to floats divide by 10.0
             angles = [float(angle) / 10.0 for angle in angles_in]
-            # angles[0] = 0.0 #override axis0 to zero
+            #angles[0] = 0.0 #override axis0 to zero
             #
             #
             #THIS NEEDS TO BE REMOVED LATER
@@ -315,7 +227,7 @@ class SerialRelay(Node):
             #
             #
             # # Update the arm's current angles
-            self.arm.update_angles(angles)
+            #self.arm.update_angles(angles)
             self.arm_feedback.axis0_angle = angles[0]
             self.arm_feedback.axis1_angle = angles[1]
             self.arm_feedback.axis2_angle = angles[2]
@@ -328,9 +240,10 @@ class SerialRelay(Node):
         else:
             self.get_logger().info("Invalid angle feedback input format")
 
-    def updateBusVoltage(self, msg: str):
+
+    def updateBusVoltage(self, msg: String):
         # Bus Voltage feedbacks
-        parts = msg.split(",")
+        parts = msg.data.split(",")
         if len(parts) >= 7:
             # Extract the voltage from the string
             voltages_in = parts[3:7]
@@ -341,29 +254,25 @@ class SerialRelay(Node):
             self.arm_feedback.voltage_3 = float(voltages_in[3]) / 100.0
         else:
             self.get_logger().info("Invalid voltage feedback input format")
-    
+
-    def updateMotorFeedback(self, msg: str):
+
-        parts = str(msg.strip()).split(",")
+    def updateMotorFeedback(self, msg):
-        motorId = round(float(parts[3]))
+        # Motor voltage/current/temperature feedback
-        temp = float(parts[4]) / 10.0
+        return
-        voltage = float(parts[5]) / 10.0
+        # parts = msg.data.split(",")
-        current = float(parts[6]) / 10.0
+        # if len(parts) >= 7:
-        if motorId == 1:
+        #     # Extract the voltage/current/temperature from the string
-            self.arm_feedback.axis1_temp = temp
+        #     values_in = parts[3:7]
-            self.arm_feedback.axis1_voltage = voltage
+        #     # Convert the voltages to floats
-            self.arm_feedback.axis1_current = current
+        #     for i in range(4):
-        elif motorId == 2:
+        #         #update arm_feedback's axisX_temp for each axis0_temp, axis1_temp, etc...
-            self.arm_feedback.axis2_temp = temp
+        #         pass
-            self.arm_feedback.axis2_voltage = voltage
+
-            self.arm_feedback.axis2_current = current
+        #         # self.arm_feedback.updateJointVoltages(i, float(values_in[i]) / 10.0)
-        elif motorId == 3:
+        #         # self.arm_feedback.updateJointCurrents(i, float(values_in[i]) / 10.0)
-            self.arm_feedback.axis3_temp = temp
+        #         # self.arm_feedback.updateJointTemperatures(i, float(values_in[i]) / 10.0)
-            self.arm_feedback.axis3_voltage = voltage
+        # else:
-            self.arm_feedback.axis3_current = current
+        #     self.get_logger().info("Invalid motor feedback input format")
-        elif motorId == 4:
-            self.arm_feedback.axis0_temp = temp
-            self.arm_feedback.axis0_voltage = voltage
-            self.arm_feedback.axis0_current = current
 
 
     @staticmethod
@@ -373,11 +282,8 @@ class SerialRelay(Node):
 
     def cleanup(self):
         print("Cleaning up...")
-        try:
+        if self.ser.is_open:
-            if self.ser.is_open:
+            self.ser.close()
-                self.ser.close()
-        except Exception as e:
-            exit(0)
 
 def myexcepthook(type, value, tb):
     print("Uncaught exception:", type, value)
@@ -393,6 +299,6 @@ def main(args=None):
     serial_pub.run()
 
 if __name__ == '__main__':
-    #signal.signal(signal.SIGTSTP, lambda signum, frame: sys.exit(0))  # Catch Ctrl+Z and exit cleanly
+    signal.signal(signal.SIGTSTP, lambda signum, frame: sys.exit(0))  # Catch Ctrl+Z and exit cleanly
     signal.signal(signal.SIGTERM, lambda signum, frame: sys.exit(0))  # Catch termination signals and exit cleanly
     main()

src/arm_pkg/arm_pkg/astra_arm.py

@@ -1,145 +0,0 @@
-import rclpy
-from rclpy.node import Node
-import numpy as np
-import time, math, os
-from math import sin, cos, pi
-from ament_index_python.packages import get_package_share_directory
-from ikpy.chain import Chain
-from ikpy.link import OriginLink, URDFLink
-#import pygame as pyg
-from scipy.spatial.transform import Rotation as R
-from geometry_msgs.msg import Vector3  
-
-
-# Misc
-degree = pi / 180.0
-
-
-def convert_angles(angles):
-    # Converts angles to the format used for the urdf (contains some dummy joints)
-    return [0.0, math.radians(angles[0]), math.radians(angles[1]), 0.0, math.radians(angles[2]), 0.0, math.radians(angles[3]), 0.0, math.radians(angles[4]), math.radians(angles[5]), 0.0]
-
-
-class Arm:
-    def __init__(self, urdf_name):
-        self.ik_tolerance = 1e-1 #Tolerance (in meters) to determine if solution is valid
-        # URDF file path
-        self.urdf = os.path.join(get_package_share_directory('arm_pkg'), 'urdf', urdf_name)
-        # IKpy Chain        
-        self.chain = Chain.from_urdf_file(self.urdf)
-
-
-        # Arrays for joint states
-        # Some links in the URDF are static (non-joints), these will remain zero for IK
-        # Indexes: Fixed_base, Ax_0, Ax_1, seg1, Ax_2, seg2, ax_3, seg3, continuous, wrist, Effector
-        self.zero_angles = [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
-        self.current_angles = self.zero_angles
-        self.last_angles = self.zero_angles
-        self.ik_angles = self.zero_angles
-
-        self.current_position: list[float] = []
-        self.target_position = [0.0, 0.0, 0.0] 
-        self.target_orientation: list = [] # Effector orientation desired at target position. 
-                                # Generally orientation for the effector is modified manually by the operator. 
-        
-        # Might not need, copied over from state_publisher.py in ik_test
-        #self.step = 0.03 # Max movement increment
-
-
-    def perform_ik(self, target_position, logger):
-        self.target_position = target_position
-        # Update the target orientation to the current orientation
-        self.update_orientation()
-        # print(f"[IK FOR] Target Position: {self.target_position}")
-        try:
-            # print(f"[TRY] Current Angles: {self.current_angles}")
-            # print(f"[TRY] Target Position: {self.target_position}")
-            # print(f"[TRY] Target Orientation: {self.target_orientation}")
-            self.ik_angles = self.chain.inverse_kinematics(
-                target_position=self.target_position,
-                target_orientation=self.target_orientation,
-                initial_position=self.current_angles,
-                orientation_mode="all"
-            )
-            # Check if the solution is within the tolerance
-            fk_matrix = self.chain.forward_kinematics(self.ik_angles)
-
-            fk_position = fk_matrix[:3, 3]  # type: ignore
-            
-            # print(f"[TRY] FK Position for Solution: {fk_position}")
-
-            error = np.linalg.norm(target_position - fk_position)
-            if error > self.ik_tolerance:
-                logger.info(f"No VALID IK Solution within tolerance. Error: {error}")
-                return False
-            else:
-                logger.info(f"IK Solution Found. Error: {error}")
-                return True
-        except Exception as e:
-            logger.info(f"IK failed for exception: {e}")
-            return False
-    
-    # # Given the FK_Matix for the arm's current pose, update the orientation array
-    # def update_orientation(self, fk_matrix):
-    #     self.target_orientation = fk_matrix[:3, :3]
-    #     return
-    
-    # def update_joints(self, ax_0, ax_1, ax_2, ax_3, wrist):
-    #     self.current_angles = [0.0, 0.0, ax_0, ax_1, ax_2, ax_3, wrist, 0.0]
-    #     return
-
-    # Get current orientation of the end effector and update target_orientation
-    def update_orientation(self):
-
-        # FK matrix for arm's current pose
-        fk_matrix = self.chain.forward_kinematics(self.current_angles)
-        
-        # Update target_orientation to the effector's current orientation
-        self.target_orientation = fk_matrix[:3, :3]  # type: ignore
-
-    # Update current angles to those provided
-    # Resetting last_angles to the new angles
-    #
-    # Use: First call, or when angles are changed manually.
-    def reset_angles(self, angles):
-        # Update angles to the new angles
-        self.current_angles = convert_angles(angles)
-        self.last_angles = self.current_angles
-
-    # Update current angles to those provided
-    # Maintain previous angles in last_angles
-    #
-    # Use: Repeated calls during IK operation
-    def update_angles(self, angles):
-        # Update angles to the new angles
-        self.last_angles = self.current_angles
-        self.current_angles = convert_angles(angles)
-    
-    # Get current X,Y,Z position of end effector
-    def get_position(self):
-        # FK matrix for arm's current pose
-        fk_matrix = self.chain.forward_kinematics(self.current_angles)
-        
-        # Get the position of the end effector from the FK matrix
-        position = fk_matrix[:3, 3]  # type: ignore
-        
-        return position
-
-    # Get current X,Y,Z position of end effector
-    def get_position_vector(self):
-        # FK matrix for arm's current pose
-        fk_matrix = self.chain.forward_kinematics(self.current_angles)
-        
-        # Get the position of the end effector from the FK matrix
-        position = fk_matrix[:3, 3]  # type: ignore
-
-        # Return position as a NumPy array
-        return np.array(position)
-
-    
-    def update_position(self):
-        # FK matrix for arm's current pose
-        fk_matrix = self.chain.forward_kinematics(self.current_angles)
-        
-        # Get the position of the end effector from the FK matrix and update current pos
-        self.current_position = fk_matrix[:3, 3]  # type: ignore

src/arm_pkg/setup.py

@@ -1,6 +1,4 @@
 from setuptools import find_packages, setup
-import os
-from glob import glob
 
 package_name = 'arm_pkg'
 
@@ -12,8 +10,6 @@ setup(
         ('share/ament_index/resource_index/packages',
             ['resource/' + package_name]),
         ('share/' + package_name, ['package.xml']),
-        (os.path.join('share', package_name, 'launch'), glob('launch/*')),
-  	    (os.path.join('share', package_name, 'urdf'), glob('urdf/*')),
     ],
     install_requires=['setuptools'],
     zip_safe=True,

src/arm_pkg/urdf/arm11.urdf

@@ -1,239 +0,0 @@
-<?xml version="1.0" ?>
-<!-- =================================================================================== -->
-<!-- |    This document was autogenerated by xacro from omni_description/robots/omnipointer_arm_only.urdf.xacro | -->
-<!-- |    EDITING THIS FILE BY HAND IS NOT RECOMMENDED                                 | -->
-<!-- =================================================================================== -->
-<robot name="omnipointer" xmlns:xacro="http://ros.org/wiki/xacro">
-  <!--MX64trntbl + MX106:  ? + 0.153 -->
-  <!-- singleaxismount + 2.5girder + singleaxismount + base + MX106: 0.007370876 + 0.0226796 + 0.007370876 + ? + 0.153 -->
-  <!-- frame106 + singleaxismount + adjustgirder + singleaxismount + base + MX28: 0.0907185 + 0.00737088 + 0.110563 + 0.00737088 + ? + 0.077 -->
-  <!-- frame28 + singleaxismount + 5girder + singleaxismount + base + MX28: 0.0907185 + 0.00737088 + 0.0368544 + 0.00737088 + ? + 0.077 -->
-  <!-- frame28 + singleaxismount + 2.5girder + singleaxismount + tip: 0.0907185 + 0.00737088 + 0.0226796 + 0.00737088 + ? -->
-  <material name="omni/Blue">
-    <color rgba="0 0 0.8 1"/>
-  </material>
-  <material name="omni/Red">
-    <color rgba="1 0 0 1"/>
-  </material>
-  <material name="omni/Green">
-    <color rgba="0 1 0 1"/>
-  </material>
-  <material name="omni/Yellow">
-    <color rgba="1 1 0 1"/>
-  </material>
-  <material name="omni/LightGrey">
-    <color rgba="0.6 0.6 0.6 1"/>
-  </material>
-  <material name="omni/DarkGrey">
-    <color rgba="0.4 0.4 0.4 1"/>
-  </material>
-  <!-- Now we can start using the macros xacro:included above to define the actual omnipointer -->
-  <!-- The first use of a macro.  This one was defined in youbot_base/base.urdf.xacro above.
-       A macro like this will expand to a set of link and joint definitions, and to additional
-       Gazebo-related extensions (sensor plugins, etc).  The macro takes an argument, name,
-       that equals "base", and uses it to generate names for its component links and joints
-       (e.g., base_link).  The xacro:included origin block is also an argument to the macro.  By convention,
-       the origin block defines where the component is w.r.t its parent (in this case the parent
-       is the world frame). For more, see http://www.ros.org/wiki/xacro -->
-  <!-- foot for arm-->
-  <link name="base_link">
-    <inertial>
-      <origin rpy="0 0 0" xyz="0 0 0"/>
-      <mass value="10.0"/>
-      <inertia ixx="0.1" ixy="0" ixz="0" iyy="0.1" iyz="0" izz="0.1"/>
-    </inertial>
-  </link>
-  <!-- joint between base_link and arm_0_link -->
-  <joint name="arm_joint_0" type="fixed">
-    <origin rpy="0 0 0" xyz="0 0 0"/>
-    <parent link="base_link"/>
-    <child link="arm_link_0"/>
-  </joint>
-  <link name="arm_link_0">
-    <visual>
-      <origin rpy="0 0 0" xyz="0 0 0.02725"/>
-      <geometry>
-        <box size="0.1143 0.1143 0.0545"/>
-      </geometry>
-      <material name="omni/LightGrey"/>
-    </visual>
-    <collision>
-      <origin rpy="0 0 0" xyz="0 0 0.02725"/>
-      <geometry>
-        <box size="0.1143 0.1143 0.0545"/>
-      </geometry>
-    </collision>
-    <inertial>
-      <!-- CENTER OF MASS -->
-      <origin rpy="0 0 0" xyz="0 0 0.02725"/>
-      <mass value="0.2"/>
-      <!-- box inertia: 1/12*m(y^2+z^2), ... -->
-      <inertia ixx="0.000267245666667" ixy="0" ixz="0" iyy="0.000267245666667" iyz="0" izz="0.000435483"/>
-    </inertial>
-  </link>
-  <joint name="arm_joint_1" type="revolute">
-    <parent link="arm_link_0"/>
-    <child link="arm_link_1"/>
-    <dynamics damping="3.0" friction="0.3"/>
-    <limit effort="30.0" lower="-3.1415926535" upper="3.1415926535" velocity="5.0"/>
-    <origin rpy="0 0 0" xyz="0 0 0.0545"/>
-    <axis xyz="0 0 1"/>
-  </joint>
-  <link name="arm_link_1">
-    <visual>
-      <origin rpy="0 0 0" xyz="0 0 0.075"/>
-      <geometry>
-        <box size="0.0402 0.05 0.15"/>
-      </geometry>
-      <material name="omni/Blue"/>
-    </visual>
-    <collision>
-      <origin rpy="0 0 0" xyz="0 0 0.075"/>
-      <geometry>
-        <box size="0.0402 0.05 0.15"/>
-      </geometry>
-    </collision>
-    <inertial>
-      <!-- CENTER OF MASS -->
-      <origin rpy="0 0 0" xyz="0 0 0.075"/>
-      <mass value="0.190421352"/>
-      <!-- box inertia: 1/12*m(y^2+z^2), ... -->
-      <inertia ixx="0.000279744834534" ixy="0" ixz="0" iyy="0.000265717763008" iyz="0" izz="6.53151584738e-05"/>
-    </inertial>
-  </link>
-  <joint name="arm_joint_2" type="revolute">
-    <parent link="arm_link_1"/>
-    <child link="arm_link_2"/>
-    <dynamics damping="3.0" friction="0.3"/>
-    <limit effort="30.0" lower="-1.75079632679" upper="1.75079632679" velocity="5.0"/>
-    <origin rpy="0 0 0" xyz="0 0 0.15"/>
-    <axis xyz="0 1 0"/>
-  </joint>
-  <link name="arm_link_2">
-    <visual>
-      <origin rpy="0 0 0" xyz="0 0 0.2355"/>
-      <geometry>
-        <box size="0.0356 0.05 0.471"/>
-      </geometry>
-      <material name="omni/Red"/>
-    </visual>
-    <collision>
-      <origin rpy="0 0 0" xyz="0 0 0.2355"/>
-      <geometry>
-        <box size="0.0356 0.05 0.471"/>
-      </geometry>
-    </collision>
-    <inertial>
-      <!-- CENTER OF MASS -->
-      <origin rpy="0 0 0" xyz="0 0 0.2355"/>
-      <mass value="0.29302326"/>
-      <!-- box inertia: 1/12*m(y^2+z^2), ... -->
-      <inertia ixx="0.00251484771035" ixy="0" ixz="0" iyy="0.00248474836108" iyz="0" izz="9.19936757328e-05"/>
-    </inertial>
-  </link>
-  <joint name="arm_joint_3" type="revolute">
-    <parent link="arm_link_2"/>
-    <child link="arm_link_3"/>
-    <dynamics damping="3.0" friction="0.3"/>
-    <limit effort="30.0" lower="-1.75079632679" upper="1.75079632679" velocity="5.0"/>
-    <origin rpy="0 0 0" xyz="0 0 0.471"/>
-    <axis xyz="0 1 0"/>
-  </joint>
-  <link name="arm_link_3">
-    <visual>
-      <origin rpy="0 0 0" xyz="0 0 0.1885"/>
-      <geometry>
-        <box size="0.0356 0.05 0.377"/>
-      </geometry>
-      <material name="omni/Yellow"/>
-    </visual>
-    <collision>
-      <origin rpy="0 0 0" xyz="0 0 0.1885"/>
-      <geometry>
-        <box size="0.0356 0.05 0.377"/>
-      </geometry>
-    </collision>
-    <inertial>
-      <!-- CENTER OF MASS -->
-      <origin rpy="0 0 0" xyz="0 0 0.1885"/>
-      <mass value="0.21931466"/>
-      <!-- box inertia: 1/12*m(y^2+z^2), ... -->
-      <inertia ixx="0.000791433503053" ixy="0" ixz="0" iyy="0.000768905501178" iyz="0" izz="6.88531064581e-05"/>
-    </inertial>
-  </link>
-  <joint name="arm_joint_4" type="revolute">
-    <parent link="arm_link_3"/>
-    <child link="arm_link_4"/>
-    <dynamics damping="3.0" friction="0.3"/>
-    <limit effort="30.0" lower="-1.75079632679" upper="1.75079632679" velocity="5.0"/>
-    <origin rpy="0 0 0" xyz="0 0 0.377"/>
-    <axis xyz="0 1 0"/>
-  </joint>
-  <link name="arm_link_4">
-    <visual>
-      <origin rpy="0 0 0" xyz="0 0 0.066"/>
-      <geometry>
-        <box size="0.0356 0.05 0.132"/>
-      </geometry>
-      <material name="omni/Green"/>
-    </visual>
-    <collision>
-      <origin rpy="0 0 0" xyz="0 0 0.066"/>
-      <geometry>
-        <box size="0.0356 0.05 0.132"/>
-      </geometry>
-    </collision>
-    <inertial>
-      <!-- CENTER OF MASS -->
-      <origin rpy="0 0 0" xyz="0 0 0.066"/>
-      <mass value="0.15813986"/>
-      <!-- box inertia: 1/12*m(y^2+z^2), ... -->
-      <inertia ixx="0.00037242266488" ixy="0" ixz="0" iyy="0.000356178538461" iyz="0" izz="4.96474819141e-05"/>
-    </inertial>
-  </link>
-  <joint name="arm_joint_5" type="revolute">
-    <parent link="arm_link_4"/>
-    <child link="arm_link_5"/>
-    <dynamics damping="3.0" friction="0.3"/>
-    <limit effort="30.0" lower="-1.75079632679" upper="1.75079632679" velocity="5.0"/>
-    <origin rpy="0 0 0" xyz="0 0 0.132"/>
-    <axis xyz="1 0 0"/>
-  </joint>
-  <link name="arm_link_5">
-    <visual>
-      <origin rpy="0 0 0" xyz="0 0 0.124"/>
-      <geometry>
-        <box size="0.0356 0.05 0.248"/>
-      </geometry>
-      <material name="omni/Blue"/>
-    </visual>
-    <collision>
-      <origin rpy="0 0 0" xyz="0 0 0.124"/>
-      <geometry>
-        <box size="0.0356 0.05 0.248"/>
-      </geometry>
-    </collision>
-    <inertial>
-      <!-- CENTER OF MASS -->
-      <origin rpy="0 0 0" xyz="0 0 0.124"/>
-      <mass value="0.15813986"/>
-      <!-- box inertia: 1/12*m(y^2+z^2), ... -->
-      <inertia ixx="0.00037242266488" ixy="0" ixz="0" iyy="0.000356178538461" iyz="0" izz="4.96474819141e-05"/>
-    </inertial>
-  </link>
-  <joint name="arm_joint_6" type="fixed">
-    <parent link="arm_link_5"/>
-    <child link="arm_link_6"/>
-    <origin rpy="0 0 0" xyz="0 0 0.248"/>
-  </joint>
-  <link name="arm_link_6">
-    <inertial>
-      <!-- CENTER OF MASS -->
-      <origin rpy="0 0 0" xyz="0 0 0"/>
-      <mass value="1e-12"/>
-      <!-- box inertia: 1/12*m(y^2+z^2), ... -->
-      <inertia ixx="1e-12" ixy="0" ixz="0" iyy="1e-12" iyz="0" izz="1e-12"/>
-    </inertial>
-  </link>
-  <!-- END OF ARM LINKS/JOINTS -->
-</robot>

src/arm_pkg/urdf/arm12.urdf

@@ -1,307 +0,0 @@
-<robot name="robot">
-  <link name="base_footprint"></link>
-  <joint name="base_joint" type="fixed">
-    <parent link="base_footprint" />
-    <child link="base_link" />
-    <origin xyz="0 0 0.0004048057655643422" rpy="0 0 0" />
-  </joint>
-  <link name="base_link">
-    <visual>
-      <origin xyz="0 0 0" rpy="0 0 0" />
-      <geometry>
-        <box size="0.5 0.5 0.01" />
-      </geometry>
-      <material name="base_link-material">
-        <color rgba="0 0.6038273388475408 1 1" />
-      </material>
-    </visual>
-    <collision>
-      <origin xyz="0 0 0" rpy="0 0 0" />
-      <geometry>
-        <box size="0.5 0.5 0.01" />
-      </geometry>
-    </collision>
-    <inertial>
-      <origin xyz="0 0 0" rpy="0 0 0" />
-      <mass value="1" />
-      <inertia ixx="0.17" ixy="0" ixz="0" iyy="0.17" iyz="0" izz="0.05" />
-    </inertial>
-  </link>
-  <joint name="Axis_0_Joint" type="revolute">
-    <parent link="base_link" />
-    <child link="Axis_0" />
-    <origin xyz="0 0 0.035" rpy="0 0 0" />
-    <axis xyz="0 0 1"/>
-    <limit effort="1000.0" lower="-2.5" upper="2.5" velocity="0.5"/>  </joint>
-  <link name="Axis_0">
-    <visual>
-      <origin xyz="0 0 0" rpy="0 0 0" />
-      <geometry>
-        <cylinder radius="0.15" length="0.059" />
-      </geometry>
-      <material name="Axis_0-material">
-        <color rgba="0.3515325994898463 0.4735314961384573 0.9301108583738498 1" />
-      </material>
-    </visual>
-    <collision>
-      <origin xyz="0 0 0" rpy="0 0 0" />
-      <geometry>
-        <cylinder radius="0.15" length="0.059" />
-      </geometry>
-    </collision>
-    <inertial>
-      <origin xyz="0 0 0" rpy="0 0 0" />
-      <mass value="1" />
-      <inertia ixx="0.3333333333333333" ixy="0" ixz="0" iyy="0.5" iyz="0" izz="0.3333333333333333" />
-    </inertial>
-  </link>
-  <joint name="Axis_1_Joint" type="revolute">
-    <parent link="Axis_0" />
-    <child link="Axis_1" />
-    <origin xyz="0 0 0.11189588647115647" rpy="1.5707963267948963 0 0" />
-    <axis xyz="0 0 1"/>
-    <limit effort="1000.0" lower="-1.7" upper="1.7" velocity="0.5"/>  </joint>
-  <link name="Axis_1">
-    <visual>
-      <origin xyz="0 0 0" rpy="0 0 0" />
-      <geometry>
-        <cylinder radius="0.082" length="0.1" />
-      </geometry>
-      <material name="Axis_1-material">
-        <color rgba="0.14702726648767014 0.14126329113044458 0.7304607400847158 1" />
-      </material>
-    </visual>
-    <collision>
-      <origin xyz="0 0 0" rpy="0 0 0" />
-      <geometry>
-        <cylinder radius="0.082" length="0.1" />
-      </geometry>
-    </collision>
-    <inertial>
-      <origin xyz="0 0 0" rpy="0 0 0" />
-      <mass value="1" />
-      <inertia ixx="0.3333333333333333" ixy="0" ixz="0" iyy="0.5" iyz="0" izz="0.3333333333333333" />
-    </inertial>
-  </link>
-  <joint name="Axis_1_to_Segment_1" type="fixed">
-    <parent link="Axis_1" />
-    <child link="Segment_1" />
-    <origin xyz="0 0.2350831500270899 0" rpy="-1.5707963267948963 0 0" />
-  </joint>
-  <link name="Segment_1">
-    <visual>
-      <origin xyz="0 0 0" rpy="0 0 0" />
-      <geometry>
-        <cylinder radius="0.025" length="0.473" />
-      </geometry>
-      <material name="Segment_1-material">
-        <color rgba="0.09084171117479915 0.3231432091022285 0.1844749944900301 1" />
-      </material>
-    </visual>
-    <collision>
-      <origin xyz="0 0 0" rpy="0 0 0" />
-      <geometry>
-        <cylinder radius="0.025" length="0.473" />
-      </geometry>
-    </collision>
-    <inertial>
-      <origin xyz="0 0 0" rpy="0 0 0" />
-      <mass value="1" />
-      <inertia ixx="0.3333333333333333" ixy="0" ixz="0" iyy="0.5" iyz="0" izz="0.3333333333333333" />
-    </inertial>
-  </link>
-  <joint name="Axis_2_Joint" type="revolute">
-    <parent link="Segment_1" />
-    <child link="Axis_2" />
-    <origin xyz="0 -5.219894517229704e-17 0.2637568842473722" rpy="1.5707963267948963 0 0" />
-    <axis xyz="0 0 1"/>
-    <limit effort="1000.0" lower="-2.7" upper="2.7" velocity="0.5"/>  </joint>
-  <link name="Axis_2">
-    <visual>
-      <origin xyz="0 0 0" rpy="0 0 0" />
-      <geometry>
-        <cylinder radius="0.055" length="0.1" />
-      </geometry>
-      <material name="Axis_2-material">
-        <color rgba="0.14702726648767014 0.14126329113044458 0.7304607400847158 1" />
-      </material>
-    </visual>
-    <collision>
-      <origin xyz="0 0 0" rpy="0 0 0" />
-      <geometry>
-        <cylinder radius="0.055" length="0.1" />
-      </geometry>
-    </collision>
-    <inertial>
-      <origin xyz="0 0 0" rpy="0 0 0" />
-      <mass value="1" />
-      <inertia ixx="0.3333333333333333" ixy="0" ixz="0" iyy="0.5" iyz="0" izz="0.3333333333333333" />
-    </inertial>
-  </link>
-  <joint name="Axis_2_to_Segment_2" type="fixed">
-    <parent link="Axis_2" />
-    <child link="Segment_2" />
-    <origin xyz="0 0.19535682173790003 0" rpy="-1.5707963267948963 0 0" />
-  </joint>
-  <link name="Segment_2">
-    <visual>
-      <origin xyz="0 0 0" rpy="0 0 0" />
-      <geometry>
-        <cylinder radius="0.025" length="0.393" />
-      </geometry>
-      <material name="Segment_2-material">
-        <color rgba="0.09084171117479915 0.3231432091022285 0.1844749944900301 1" />
-      </material>
-    </visual>
-    <collision>
-      <origin xyz="0 0 0" rpy="0 0 0" />
-      <geometry>
-        <cylinder radius="0.025" length="0.393" />
-      </geometry>
-    </collision>
-    <inertial>
-      <origin xyz="0 0 0" rpy="0 0 0" />
-      <mass value="1" />
-      <inertia ixx="0.3333333333333333" ixy="0" ixz="0" iyy="0.5" iyz="0" izz="0.3333333333333333" />
-    </inertial>
-  </link>
-  <joint name="Axis_3_Joint" type="revolute">
-    <parent link="Segment_2" />
-    <child link="Axis_3" />
-    <origin xyz="0 -4.337792830220178e-17 0.199625776257357" rpy="1.5707963267948963 0 0" />
-    <axis xyz="0 0 1"/>
-    <limit effort="1000.0" lower="-1.6" upper="1.6" velocity="0.5"/>  </joint>
-  <link name="Axis_3">
-    <visual>
-      <origin xyz="0 0 0" rpy="0 0 0" />
-      <geometry>
-        <cylinder radius="0.05" length="0.1" />
-      </geometry>
-      <material name="Axis_3-material">
-        <color rgba="0.14702726648767014 0.14126329113044458 0.7304607400847158 1" />
-      </material>
-    </visual>
-    <collision>
-      <origin xyz="0 0 0" rpy="0 0 0" />
-      <geometry>
-        <cylinder radius="0.05" length="0.1" />
-      </geometry>
-    </collision>
-    <inertial>
-      <origin xyz="0 0 0" rpy="0 0 0" />
-      <mass value="1" />
-      <inertia ixx="0.3333333333333333" ixy="0" ixz="0" iyy="0.5" iyz="0" izz="0.3333333333333333" />
-    </inertial>
-  </link>
-  <joint name="Axis_3_to_Segment_3" type="fixed">
-    <parent link="Axis_3" />
-    <child link="Segment_3" />
-    <origin xyz="0 0.06725724726912972 0" rpy="-1.5707963267948963 0 0" />
-  </joint>
-  <link name="Segment_3">
-    <visual>
-      <origin xyz="0 0 0" rpy="0 0 0" />
-      <geometry>
-        <cylinder radius="0.025" length="0.135" />
-      </geometry>
-      <material name="Segment_3-material">
-        <color rgba="0.09084171117479915 0.3231432091022285 0.1844749944900301 1" />
-      </material>
-    </visual>
-    <collision>
-      <origin xyz="0 0 0" rpy="0 0 0" />
-      <geometry>
-        <cylinder radius="0.025" length="0.135" />
-      </geometry>
-    </collision>
-    <inertial>
-      <origin xyz="0 0 0" rpy="0 0 0" />
-      <mass value="1" />
-      <inertia ixx="0.3333333333333333" ixy="0" ixz="0" iyy="0.5" iyz="0" izz="0.3333333333333333" />
-    </inertial>
-  </link>
-  <joint name="Wrist_Joint" type="revolute">
-    <parent link="Segment_3" />
-    <child link="Axis_4" />
-    <origin xyz="0 0 0.0655808825338593" rpy="0 1.5707963267948966 0" />
-    <axis xyz="0 0 1"/>
-    <limit effort="1000.0" lower="-1.6" upper="1.6" velocity="0.5"/>  </joint>
-  <link name="Axis_4">
-    <visual>
-      <origin xyz="0 0 0" rpy="0 0 0" />
-      <geometry>
-        <cylinder radius="0.03" length="0.075" />
-      </geometry>
-      <material name="Axis_4-material">
-        <color rgba="0.23455058215026167 0.9301108583738498 0.21952619971859377 1" />
-      </material>
-    </visual>
-    <collision>
-      <origin xyz="0 0 0" rpy="0 0 0" />
-      <geometry>
-        <cylinder radius="0.03" length="0.075" />
-      </geometry>
-    </collision>
-    <inertial>
-      <origin xyz="0 0 0" rpy="0 0 0" />
-      <mass value="1" />
-      <inertia ixx="0.3333333333333333" ixy="0" ixz="0" iyy="0.5" iyz="0" izz="0.3333333333333333" />
-    </inertial>
-  </link>
-  <joint name="Continuous_Joint" type="revolute">
-    <parent link="Axis_4" />
-    <child link="Axis_4_C" />
-    <origin xyz="0.0009533507860803557 0 0" rpy="0 -1.5707963267948966 0" />
-    <axis xyz="0 0 1"/>
-    <limit effort="1000.0" lower="-3.14" upper="3.14" velocity="0.5"/>
-  </joint>
-  <link name="Axis_4_C">
-    <visual>
-      <origin xyz="0 0 0" rpy="0 0 0" />
-      <geometry>
-        <cylinder radius="0.02" length="0.01" />
-      </geometry>
-      <material name="Axis_4_C-material">
-        <color rgba="0.006048833020386069 0.407240211891531 0.15592646369776456 1" />
-      </material>
-    </visual>
-    <collision>
-      <origin xyz="0 0 0" rpy="0 0 0" />
-      <geometry>
-        <cylinder radius="0.02" length="0.01" />
-      </geometry>
-    </collision>
-    <inertial>
-      <origin xyz="0 0 0" rpy="0 0 0" />
-      <mass value="1" />
-      <inertia ixx="0.3333333333333333" ixy="0" ixz="0" iyy="0.5" iyz="0" izz="0.3333333333333333" />
-    </inertial>
-  </link>
-  <joint name="Axis_4_C_to_Effector" type="fixed">
-    <parent link="Axis_4_C" />
-    <child link="Effector" />
-    <origin xyz="0 0 0.06478774571448076" rpy="0 0 0" />
-  </joint>
-  <link name="Effector">
-    <visual>
-      <origin xyz="0 0 0" rpy="0 0 0" />
-      <geometry>
-        <box size="0.05 0.01 0.135" />
-      </geometry>
-      <material name="Effector-material">
-        <color rgba="0.2746773120495699 0.01680737574872402 0.5711248294565854 1" />
-      </material>
-    </visual>
-    <collision>
-      <origin xyz="0 0 0" rpy="0 0 0" />
-      <geometry>
-        <box size="0.01 0.01 0.135" />
-      </geometry>
-    </collision>
-    <inertial>
-      <origin xyz="0 0 0" rpy="0 0 0" />
-      <mass value="1" />
-      <inertia ixx="0.16666666666666666" ixy="0" ixz="0" iyy="0.16666666666666666" iyz="0" izz="0.16666666666666666" />
-    </inertial>
-  </link>
-</robot>

src/bio_pkg/bio_pkg/bio_node.py

@@ -3,7 +3,6 @@ from rclpy.node import Node
 import serial
 import sys
 import threading
-import os
 import glob
 import time
 import atexit
@@ -145,11 +144,10 @@ class SerialRelay(Node):
 
         # LSS (SCYTHE)
         command = "can_relay_tovic,citadel,24," + str(msg.bio_arm) + "\n"
-        #self.send_cmd(command)
+        self.send_cmd(command)
-        
         # Vibration Motor
-        command += "can_relay_tovic,citadel,26," + str(msg.vibration_motor) + "\n"
+        command = "can_relay_tovic,citadel,26," + str(msg.vibration_motor) + "\n"
-        #self.send_cmd(command)
+        self.send_cmd(command)
         
 
         # FAERIE Control Commands 
@@ -158,15 +156,16 @@ class SerialRelay(Node):
         # To be reviewed before use#
 
         # Laser
-        command += "can_relay_tovic,digit,28," + str(msg.laser) + "\n"
+        command = "can_relay_tovic,digit,28," + str(msg.laser) + "\n"
-        #self.send_cmd(command)
+        self.send_cmd(command)
 
         # Drill (SCABBARD)
-        command += f"can_relay_tovic,digit,19,{msg.drill:.2f}\n"
+        command = f"can_relay_tovic,digit,19,{msg.drill:.2f}\n"
-        #self.send_cmd(command)
+        print(msg.drill)
+        self.send_cmd(command)
 
         # Bio linear actuator
-        command += "can_relay_tovic,digit,42," + str(msg.drill_arm) + "\n"
+        command = "can_relay_tovic,digit,42," + str(msg.drill_arm) + "\n"
         self.send_cmd(command)
 
 
@@ -183,7 +182,7 @@ class SerialRelay(Node):
     def anchor_feedback(self, msg: String):
         output = msg.data
         parts = str(output.strip()).split(",")
-        #self.get_logger().info(f"[Bio Anchor] {msg.data}")
+        self.get_logger().info(f"[Bio Anchor] {msg.data}")
 
         if output.startswith("can_relay_fromvic,citadel,54"):  # bat, 12, 5, Voltage readings * 100
             self.bio_feedback.bat_voltage = float(parts[3]) / 100.0
@@ -203,11 +202,8 @@ class SerialRelay(Node):
 
     def cleanup(self):
         print("Cleaning up...")
-        try:
+        if self.ser.is_open:
-            if self.ser.is_open:
+            self.ser.close()
-                self.ser.close()
-        except Exception as e:
-            exit(0)
 
 def myexcepthook(type, value, tb):
     print("Uncaught exception:", type, value)
@@ -223,6 +219,6 @@ def main(args=None):
     serial_pub.run()
 
 if __name__ == '__main__':
-    #signal.signal(signal.SIGTSTP, lambda signum, frame: sys.exit(0))  # Catch Ctrl+Z and exit cleanly
+    signal.signal(signal.SIGTSTP, lambda signum, frame: sys.exit(0))  # Catch Ctrl+Z and exit cleanly
     signal.signal(signal.SIGTERM, lambda signum, frame: sys.exit(0))  # Catch termination signals and exit cleanly
     main()

src/core_pkg/core_pkg/core_headless.py

@@ -20,86 +20,113 @@ os.environ["SDL_VIDEODRIVER"] = "dummy"  # Prevents pygame from trying to open a
 os.environ["SDL_AUDIODRIVER"] = "dummy"  # Force pygame to use a dummy audio driver before pygame.init()
 
 
-max_speed = 90 #Max speed as a duty cycle percentage (1-100)
+max_speed = 75 #Max speed as a duty cycle percentage (1-100)
 
 class Headless(Node):
     def __init__(self):
-        # Initialize pygame first
+        # Initalize node with name
+        super().__init__("core_headless")
+
+        self.create_timer(0.20, self.send_controls)
+
+
+        # Create a publisher to publish any output the pico sends
+        self.publisher = self.create_publisher(CoreControl, '/core/control', 10) 
+
+
+        self.lastMsg = String() #Used to ignore sending controls repeatedly when they do not change
+
         pygame.init()
+
+        # Initialize the gamepad module
         pygame.joystick.init()
-        
+
-        # Wait for a gamepad to be connected
+        # Check if any gamepad is connected
-        self.gamepad = None
+        if pygame.joystick.get_count() == 0:
-        print("Waiting for gamepad connection...")
+            print("No gamepad found.")
-        while pygame.joystick.get_count() == 0:
+            pygame.quit()
-            # Process any pygame events to keep it responsive
+            exit()
-            for event in pygame.event.get():
+        for event in pygame.event.get():
-                if event.type == pygame.QUIT:
+            if event.type == pygame.QUIT:
-                    pygame.quit()
+                pygame.quit()
-                    sys.exit(0)
+                exit()
-            time.sleep(1.0)  # Check every second
+
-            print("No gamepad found. Waiting...")
+        # Initialize the first gamepad, print name to terminal
-        
-        # Initialize the gamepad
         self.gamepad = pygame.joystick.Joystick(0)
         self.gamepad.init()
         print(f'Gamepad Found: {self.gamepad.get_name()}')
-        
+        #
-        # Now initialize the ROS2 node
+        #
-        super().__init__("core_headless")
+
-        self.create_timer(0.15, self.send_controls)
-        self.publisher = self.create_publisher(CoreControl, '/core/control', 10)
-        self.lastMsg = String()  # Used to ignore sending controls repeatedly when they do not change
 
     def run(self):
         # This thread makes all the update processes run in the background
         thread = threading.Thread(target=rclpy.spin, args={self}, daemon=True)
         thread.start()
         
+
         try:
             while rclpy.ok():
+                #Check the pico for updates
                 self.send_controls()
-                time.sleep(0.1)  # Small delay to avoid CPU hogging
+
+                if pygame.joystick.get_count() == 0: #if controller disconnected, wait for it to be reconnected
+                    print(f"Gamepad disconnected: {self.gamepad.get_name()}")
+                    
+                    while pygame.joystick.get_count() == 0:
+                        self.send_controls()
+                    self.gamepad = pygame.joystick.Joystick(0)
+                    self.gamepad.init() #re-initialized gamepad
+                    print(f"Gamepad reconnected: {self.gamepad.get_name()}")
+                    
+
         except KeyboardInterrupt:
             sys.exit(0)
+        
 
     def send_controls(self):
+        
         for event in pygame.event.get():
             if event.type == pygame.QUIT:
                 pygame.quit()
-                sys.exit(0)
+                exit()
-        
-        # Check if controller is still connected
-        if pygame.joystick.get_count() == 0:
-            print("Gamepad disconnected. Exiting...")
-            # Send one last zero control message
-            input = CoreControl()
-            input.left_stick = 0
-            input.right_stick = 0
-            input.max_speed = 0
-            self.publisher.publish(input)
-            self.get_logger().info("Final stop command sent. Shutting down.")
-            # Clean up
-            pygame.quit()
-            sys.exit(0)
-            
         input = CoreControl()
+
         input.max_speed = max_speed
-        input.right_stick = -1 * round(self.gamepad.get_axis(4), 2)  # right y-axis
+
+        input.right_stick = round(self.gamepad.get_axis(4),2)#right y-axis
         if self.gamepad.get_axis(5) > 0:
             input.left_stick = input.right_stick
         else:
-            input.left_stick = -1 * round(self.gamepad.get_axis(1), 2)  # left y-axis
+            input.left_stick = round(self.gamepad.get_axis(1),2)#lext y-axis
 
-        output = f'L: {input.left_stick}, R: {input.right_stick}, M: {max_speed}'
+
-        self.get_logger().info(f"[Ctrl] {output}")
+
-        self.publisher.publish(input)
+        if pygame.joystick.get_count() != 0:
+            output = f'L: {input.left_stick}, R: {input.right_stick}, M: {max_speed}' #stop the rover if there is no controller connected
+            self.get_logger().info(f"[Ctrl] {output}")
+            self.publisher.publish(input)
+        else:
+            input.left_stick = 0
+            input.right_stick = 0
+            input.max_speed = 0
+            self.get_logger().info(f"[Ctrl] Stopping. No Gamepad Connected. ")
+            self.publisher.publish(input)
+
+
+        
 
 def main(args=None):
     rclpy.init(args=args)
+
     node = Headless()
+    
     rclpy.spin(node)
     rclpy.shutdown()
 
+    #tb_bs = BaseStation()
+    #node.run()
+
+
 if __name__ == '__main__':
     main()

src/core_pkg/core_pkg/core_node.py

@@ -1,6 +1,5 @@
 import rclpy
 from rclpy.node import Node
-from rclpy import qos
 from std_srvs.srv import Empty
 
 import signal
@@ -8,7 +7,6 @@ import time
 import atexit
 
 import serial
-import os
 import sys
 import threading
 import glob
@@ -20,17 +18,6 @@ from ros2_interfaces_pkg.msg import CoreControl
 serial_pub = None
 thread = None
 
-# control_qos = qos.QoSProfile(
-#     history=qos.QoSHistoryPolicy.KEEP_LAST,
-#     depth=1,
-#     reliability=qos.QoSReliabilityPolicy.BEST_EFFORT,
-#     durability=qos.QoSDurabilityPolicy.VOLATILE,
-#     deadline=1000,
-#     lifespan=500,
-#     liveliness=qos.QoSLivelinessPolicy.SYSTEM_DEFAULT,
-#     liveliness_lease_duration=5000
-# )
-
 class SerialRelay(Node):
     def __init__(self):
         # Initalize node with name
@@ -182,7 +169,7 @@ class SerialRelay(Node):
         # Convert the 0-1 range into a value in the right range.
         return str(rightMin + (valueScaled * rightSpan))
 
-    def send_controls(self, msg: CoreControl):
+    def send_controls(self, msg):
         #can_relay_tovic,core,19, left_stick, right_stick 
         if(msg.turn_to_enable):
             command = "can_relay_tovic,core,41," + str(msg.turn_to) + ',' + str(msg.turn_to_timeout) + '\n' 
@@ -195,14 +182,14 @@ class SerialRelay(Node):
         self.send_cmd(command)
 
         #print(f"[Sys] Relaying: {command}")
-    def send_cmd(self, msg: str):
+    def send_cmd(self, msg):
         if self.launch_mode == 'anchor':
             #self.get_logger().info(f"[Core to Anchor Relay] {msg}")
             output = String()#Convert to std_msg string
             output.data = msg
             self.anchor_pub.publish(output)
         elif self.launch_mode == 'core':
-            self.get_logger().info(f"[Core to MCU] {msg.data}")
+            self.get_logger().info(f"[Core to MCU] {msg}")
             self.ser.write(bytes(msg, "utf8"))
 
     def anchor_feedback(self, msg: String):
@@ -215,46 +202,25 @@ class SerialRelay(Node):
             self.core_feedback.gps_long = float(parts[3])
         elif output.startswith("can_relay_fromvic,core,50"):#GNSS Satellite Count
             self.core_feedback.gps_sats = round(float(parts[3]))
-            #if parts length is at least 5 then we should have altitude, this is a temporary check until fully implemented
+        elif output.startswith("can_relay_fromvic,core,51"):#Gyro x,y,z
-            if len(parts) >= 5:
-                self.core_feedback.gps_alt = round(float(parts[4]), 2)
-        elif output.startswith("can_relay_fromvic,core,51"):  #Gyro x,y,z
             self.core_feedback.bno_gyro.x = float(parts[3])
             self.core_feedback.bno_gyro.y = float(parts[4])
             self.core_feedback.bno_gyro.z = float(parts[5])
             self.core_feedback.imu_calib = round(float(parts[6]))
-        elif output.startswith("can_relay_fromvic,core,52"):  #Accel x,y,z, heading
+        elif output.startswith("can_relay_fromvic,core,52"):#Accel x,y,z, heading *10
             self.core_feedback.bno_accel.x = float(parts[3])
             self.core_feedback.bno_accel.y = float(parts[4])
             self.core_feedback.bno_accel.z = float(parts[5])
-            self.core_feedback.orientation = float(parts[6])
+            self.core_feedback.orientation = float(parts[6]) / 10.0
-        elif output.startswith("can_relay_fromvic,core,53"):  #Rev motor feedback
+        elif output.startswith("can_relay_fromvic,core,53"):#Rev motor feedback
-            motorId = round(float(parts[3]))
+            pass
-            temp = float(parts[4]) / 10.0
+            #self.updateMotorFeedback(output)
-            voltage = float(parts[5]) / 10.0
+        elif output.startswith("can_relay_fromvic,core,54"):#bat, 12, 5, 3, Voltage readings * 100
-            current = float(parts[6]) / 10.0
-            if motorId == 1:
-                self.core_feedback.fl_temp = temp
-                self.core_feedback.fl_voltage = voltage
-                self.core_feedback.fl_current = current
-            elif motorId == 2:
-                self.core_feedback.bl_temp = temp
-                self.core_feedback.bl_voltage = voltage
-                self.core_feedback.bl_current = current
-            elif motorId == 3:
-                self.core_feedback.fr_temp = temp
-                self.core_feedback.fr_voltage = voltage
-                self.core_feedback.fr_current = current
-            elif motorId == 4:
-                self.core_feedback.br_temp = temp
-                self.core_feedback.br_voltage = voltage
-                self.core_feedback.br_current = current
-        elif output.startswith("can_relay_fromvic,core,54"):  #bat, 12, 5, 3, Voltage readings * 100
             self.core_feedback.bat_voltage = float(parts[3]) / 100.0
             self.core_feedback.voltage_12 = float(parts[4]) / 100.0
             self.core_feedback.voltage_5 = float(parts[5]) / 100.0
             self.core_feedback.voltage_3 = float(parts[6]) / 100.0
-        elif output.startswith("can_relay_fromvic,core,56"):  #BMP Temp, Altitude, Pressure
+        elif output.startswith("can_relay_fromvic,core,56"):#BMP Temp, Altitude, Pressure
             self.core_feedback.bmp_temp = float(parts[3])
             self.core_feedback.bmp_alt = float(parts[4])
             self.core_feedback.bmp_pres = float(parts[5])
@@ -276,11 +242,8 @@ class SerialRelay(Node):
     
     def cleanup(self):
         print("Cleaning up before terminating...")
-        try:
+        if self.ser.is_open:
-            if self.ser.is_open:
+            self.ser.close()
-                self.ser.close()
-        except Exception as e:
-            exit(0)
 
 def myexcepthook(type, value, tb):
     print("Uncaught exception:", type, value)
@@ -299,7 +262,7 @@ def main(args=None):
    serial_pub.run()
 
 if __name__ == '__main__':
-    #signal.signal(signal.SIGTSTP, lambda signum, frame: sys.exit(0))  # Catch Ctrl+Z and exit cleanly
+    signal.signal(signal.SIGTSTP, lambda signum, frame: sys.exit(0))  # Catch Ctrl+Z and exit cleanly
     signal.signal(signal.SIGTERM, lambda signum, frame: sys.exit(0))  # Catch termination signals and exit cleanly
     main()
 

src/core_pkg/core_pkg/core_ptz.py

@@ -42,6 +42,13 @@ class PtzNode(Node):
         self.loop = None
         self.thread_pool = None
         
+        # Track current zoom level and zoom state
+        self.current_zoom_level = 1.0
+        self.max_zoom_level = 6.0  # A8 mini max zoom
+        self.zoom_step = 0.2       # Zoom step per command
+        self.zooming = 0           # Current zoom direction: -1=out, 0=stop, 1=in
+        self.zoom_timer = None
+        
         # Create publishers
         self.feedback_pub = self.create_publisher(PtzFeedback, '/ptz/feedback', 10)
         self.debug_pub = self.create_publisher(String, '/ptz/debug', 10)
@@ -130,7 +137,6 @@ class PtzNode(Node):
                     debug_str += str(data)
                 self.get_logger().debug(debug_str)
 
-
     def check_camera_connection(self):
         """Periodically check camera connection and attempt to reconnect if needed."""
         if not self.camera_connected and not self.shutdown_requested:
@@ -181,6 +187,10 @@ class PtzNode(Node):
             if msg.reset:
                 self.get_logger().info("Attempting to reset camera to center position")
                 await self.camera.send_attitude_angles_command(0.0, 0.0)
+                
+                # Also reset zoom to 1x when resetting camera
+                self.current_zoom_level = 1.0
+                await self.camera.send_absolute_zoom_command(1.0)
                 return
                 
             if msg.control_mode == 0:
@@ -201,10 +211,21 @@ class PtzNode(Node):
                 self.get_logger().debug(f"Attempting single axis: axis={axis.name}, angle={angle}")
                 await self.camera.send_single_axis_attitude_command(angle, axis)
 
-            elif msg.control_mode == 3: 
+            elif msg.control_mode == 3:
-                zoom_level = msg.zoom_level
+                # Instead of absolute zoom, interpret zoom_level as zoom direction
-                self.get_logger().debug(f"Attempting absolute zoom: level={zoom_level}x")
+                zoom_direction = int(msg.zoom_level) if abs(msg.zoom_level) >= 0.5 else 0
-                await self.camera.send_absolute_zoom_command(zoom_level)
+                zoom_direction = max(-1, min(1, zoom_direction))  # Restrict to -1, 0, 1
+                
+                if zoom_direction != self.zooming:
+                    self.zooming = zoom_direction
+                    self.get_logger().debug(f"Zoom direction changed to {zoom_direction}")
+                    
+                    if zoom_direction == 0:
+                        # Stop zooming
+                        self.get_logger().debug(f"Stopping zoom at level {self.current_zoom_level:.1f}x")
+                    else:
+                        # Start zooming in the specified direction
+                        await self.perform_zoom(zoom_direction)
                 
             if hasattr(msg, 'stream_type') and hasattr(msg, 'stream_freq'):
                 if msg.stream_type > 0 and msg.stream_freq >= 0: 
@@ -221,13 +242,52 @@ class PtzNode(Node):
         except RuntimeError as e: # Catch SDK's "not connected" errors
             self.get_logger().warning(f"SDK command failed (likely not connected): {e}")
             # self.camera_connected will be updated by health/connection checks
-            # self.feedback_msg.error_msg = f"Command failed: {str(e)}" # Already set by health check
-            # self.feedback_pub.publish(self.feedback_msg)
         except Exception as e:
             self.get_logger().error(f"Error processing control command: {e}")
             self.feedback_msg.error_msg = f"Control error: {str(e)}"
             self.feedback_pub.publish(self.feedback_msg) # Publish for other errors
 
+    async def perform_zoom(self, direction):
+        """Perform a zoom operation in the specified direction."""
+        if not self.camera or not self.camera.is_connected:
+            return
+            
+        if direction == 0:
+            return
+            
+        # Calculate new zoom level
+        new_zoom_level = self.current_zoom_level + (direction * self.zoom_step)
+        
+        # Clamp to valid range
+        new_zoom_level = max(1.0, min(self.max_zoom_level, new_zoom_level))
+        
+        # Skip if no change (already at min/max)
+        if new_zoom_level == self.current_zoom_level:
+            if direction > 0:
+                self.get_logger().debug(f"Already at maximum zoom level ({self.max_zoom_level:.1f}x)")
+            else:
+                self.get_logger().debug(f"Already at minimum zoom level (1.0x)")
+            return
+            
+        # Set the new zoom level
+        self.get_logger().debug(f"Zooming from {self.current_zoom_level:.1f}x to {new_zoom_level:.1f}x")
+        self.current_zoom_level = new_zoom_level
+        
+        try:
+            await self.camera.send_absolute_zoom_command(new_zoom_level)
+            
+            # If still zooming in same direction, schedule another zoom step
+            if self.zooming == direction:
+                # Schedule a new zoom step after a short delay if we're not at the limits
+                if (direction > 0 and new_zoom_level < self.max_zoom_level) or \
+                   (direction < 0 and new_zoom_level > 1.0):
+                    # Use create_timer for a non-blocking delay
+                    await asyncio.sleep(0.2)  # 200ms delay between zoom steps
+                    if self.zooming == direction:  # Check if direction hasn't changed
+                        await self.perform_zoom(direction)
+        except Exception as e:
+            self.get_logger().error(f"Error during zoom operation: {e}")
+
     def publish_debug(self, message_text):
         """Publish debug message."""
         msg = String()
@@ -250,7 +310,6 @@ class PtzNode(Node):
             self.get_logger().warning("Asyncio loop not running, cannot execute coroutine.")
             return None
 
-
     async def shutdown_node_async(self):
         """Perform clean shutdown of camera connection."""
         self.shutdown_requested = True

src/core_pkg/core_pkg/siyi_sdk/siyi.py

@@ -64,7 +64,7 @@ class CommandID(Enum):
     """
 
     ROTATION_CONTROL = 0x07
-    ABSOLUTE_ZOOM = 0x08
+    ABSOLUTE_ZOOM = 0x0C
     ATTITUDE_ANGLES = 0x0E
     SINGLE_AXIS_CONTROL = 0x41
     DATA_STREAM_REQUEST = 0x25