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Commit Graph

  • cc53e6efd6 chore: update astra_descriptions David 2025-10-22 23:40:04 -05:00
  • d879a3bae4 feat: add drill to bio headless David 2025-10-21 10:41:34 -05:00
  • ed7efb4583 fix: ptz now works in flake David 2025-10-18 12:28:53 -05:00
  • 2165003f35 fix: msg len requirements now account for viccan packaging David 2025-10-18 12:17:45 -05:00
  • 95ceecacaa do not build in shellHook ryleu 2025-10-18 02:39:08 -05:00
  • 414254b3b7 add a PORT_OVERRIDE env var ryleu 2025-10-18 02:35:09 -05:00
  • a63a3b19af fix python deps ryleu 2025-10-18 02:23:33 -05:00
  • b12515bf11 fix: rover can turn left again David 2025-10-18 02:09:50 -05:00
  • 8c01efeaf7 fix: make cmd_vel QoS compatible with everything else David 2025-10-18 01:48:30 -05:00
  • aa84667aab feat: add depencies to packages.xml files, add packages to flake.nix David Sharpe 2025-10-17 18:06:54 -05:00
  • 7ac250fd66 fix: correct descriptions submodule name David 2025-10-16 18:05:13 -05:00
  • a7ec355c4f style: move description files to new repo (astra_descriptions) David 2025-10-16 18:03:43 -05:00
  • 05af7f9be4 style: rename core_rover_description to core_description David 2025-10-16 16:21:13 -05:00
  • 5e8b60f720 style: move core_rover_description and core_gazebo into new astra_description folder David 2025-10-16 12:33:10 -05:00
  • b9a63126e1 fix: correctly spawn controllers David 2025-10-16 12:16:49 -05:00
  • a58f9b6ada feat: make frames work properly, rviz is now accurate David 2025-10-15 02:31:47 -05:00
  • 89015ee7a5 feat: add VicCAN message validity checking and core feedback data length checking David 2025-10-14 15:21:23 -05:00
  • d565dbe31f refactor: change msg.command_id from if elif to match case David 2025-10-14 13:49:53 -05:00
  • 2d258b3103 refactor: new feedback topics use default sensor data QoS David 2025-10-14 13:45:10 -05:00
  • 86d01c29e3 fix: add gear ratio to JointState David 2025-10-14 11:47:23 -05:00
  • 366f1e0c58 feat: add joint_state pub to Core for wheel position and velocity David 2025-10-13 21:50:09 -05:00
  • 6bbb5d8706 refactor: make diff_controller listen on /core/rwist David 2025-10-10 23:37:19 -05:00
  • 676f86bcd0 feat: make ros2 controllers start automatically David 2025-10-10 18:58:30 -05:00
  • 723aa33e3c fix: make work slightly more consistently David 2025-10-10 14:16:47 -05:00
  • 86684b0bff feat: add ros2_control to Core URDF David 2025-10-10 02:22:12 -05:00
  • e70a10a191 feat: refactor Core topics and add VicCAN (#17, topic-refactor) v1.1 David Sharpe 2025-10-09 22:14:43 -05:00
  • 8b8ff69c27 chore: update ros2_interfaces_pkg to v1.1 David 2025-10-09 22:11:29 -05:00
  • ebd07258f0 refactor: replace speed_mode with max_duty for core control David 2025-10-09 16:19:34 -05:00
  • 0e256c7d22 feat: add agpl-3.0-only license David 2025-10-04 23:24:23 -05:00
  • b62060026c style: minor edits based on riley's comments David 2025-10-04 23:08:04 -05:00
  • 924509b733 fix: add ptz back to rover_launch.py David 2025-10-04 23:06:50 -05:00
  • 36da0203bc fix: make turning input curve less aggressive David 2025-10-01 21:49:40 -05:00
  • 87b2ab6f8c fix!: remove bio from headless David 2025-10-01 11:18:31 -05:00
  • e5af28af3a feat: add Core URDF with basic Gazebo sim David 2025-09-30 17:49:01 -05:00
  • 8c5287158d fix: arm/bio headless works again David 2025-09-30 11:56:05 -05:00
  • 97fa17a4a8 feat: add bio to headless David 2025-09-29 11:34:35 -05:00
  • 644459ec71 style: explain anchor topics in comment block David 2025-09-29 11:09:05 -05:00
  • b1f4fe8320 refactor: change Core commands to VicCAN David 2025-09-29 10:29:01 -05:00
  • a25983126f refactor: move headless globals to class vars David 2025-09-29 09:25:07 -05:00
  • 647ff34fa5 feat: add rumble on headless mode switch (core/arm) David 2025-09-29 09:16:43 -05:00
  • 75d1a841bb feat: add VicCAN topics to Core, sync Core with PDR David 2025-09-28 19:30:40 -05:00
  • 7992acf60f feat: add VicCAN topics to Anchor David 2025-09-28 19:22:56 -05:00
  • 75fefa7048 fix: typo in latency tester David 2025-09-26 16:11:49 -05:00
  • 2a797693a2 Add Nix flake David Sharpe 2025-09-17 22:40:52 -05:00
  • 49b8acc860 feat: control wrist yaw and roll at same time David 2025-09-15 11:43:22 -05:00
  • 00be1cef52 fix: make headless rumble stronger David 2025-09-11 18:33:30 -05:00
  • 64405e3a0b feat: start rosbag on boot David 2025-09-11 15:56:20 -05:00
  • 9370b91c7e style: move systemd services to a folder David 2025-09-11 13:32:34 -05:00
  • 660ceb560d feat: populate motor status timestamps David 2025-09-10 23:57:21 -05:00
  • 5f8a4a0ca7 feat: add latency_tester to test comms latency David 2025-09-10 23:00:40 -05:00
  • abcb9b9a4d feat: fully add NewCoreFeedback to core_pkg, including REV pos/vel David 2025-09-10 23:00:17 -05:00
  • 858e03f385 feat: add rumble on headless ready, change turn to cubic David 2025-09-10 22:59:27 -05:00
  • 882cbc5949 fix: -float is not float??? David 2025-09-10 22:46:27 -05:00
  • d5ba9ad721 feat: add speed and brake mode control David 2025-09-10 10:49:51 -05:00
  • 93226203f1 style: clean up core and headless David 2025-09-09 20:12:46 -05:00
  • 4c972e6264 fix: correctly account for neg linear David 2025-09-09 12:51:48 -05:00
  • bac9b3cbe0 fix: correct turning direction David 2025-09-08 23:01:40 -05:00
  • 0c1a368499 feat: add Twist support to headless and core_pkg David 2025-09-08 09:51:25 -05:00
  • 056ffd1eb6 feat: add Twist and Imu messages to Core David 2025-09-07 20:03:49 -05:00
  • 8868408ac3 feat: add arm support to headless (headless_combine #16) David Sharpe 2025-09-07 19:11:12 -05:00
  • 5461fbab11 fix: round() is not float ._. David 2025-09-02 12:24:38 -05:00
  • a0db7f62bc refactor: move auto_start folder into rover-ros2 from home dir David 2025-09-02 02:56:50 -05:00
  • caf20f46f6 refactor: poll controller state all at once, add deadzones David 2025-09-02 02:43:38 -05:00
  • d3dbbf8658 style: fix author stuff for headless_pkg David 2025-08-28 18:55:22 -05:00
  • 4254ecc4ce fix: python float/int for /core/control David 2025-08-22 16:41:54 -05:00
  • 10757c8c71 fix: names in ROS2 files were incorrect for headless_full, add new service files for NUC David Sharpe 2025-08-21 16:31:59 -05:00
  • 37774c0c31 feat: add systemd files from NUC David Sharpe 2025-08-21 15:26:53 -05:00
  • 5c0cd926da feat: add Tristan's IK with ikpy (#15 ik_dev) v1.0 David Sharpe 2025-08-18 12:14:05 -05:00
  • 826f14725a feat: create headless_pkg, combine core and arm headless David Sharpe 2025-08-17 09:33:28 -05:00
  • 4e1e0e29dd style: get ready for main David 2025-08-12 08:49:12 -05:00
  • cdc2c7e703 refactor: post-comp IK testing David 2025-07-24 00:07:06 -05:00
  • bd5c3c3c5a print debug to screen & ik debug publisher Tristan McGinnis 2025-05-07 14:11:24 -05:00
  • d270235088 add current angles to ik debug output Tristan McGinnis 2025-05-07 14:07:51 -05:00
  • 35208150ef remove command send for perform_ik Tristan McGinnis 2025-05-07 14:02:02 -05:00
  • fb699984b9 Removing print statements from anchor and core to clean up output Tristan McGinnis 2025-05-07 13:56:12 -05:00
  • 2eb3c796ec Doing testing for performance Tristan McGinnis 2025-05-07 13:54:18 -05:00
  • da939cc381 No publishing controls, to view debug output Tristan McGinnis 2025-05-07 13:39:48 -05:00
  • 2c27c81dc5 update angles for IK when control command is sent Tristan McGinnis 2025-05-04 14:29:45 -05:00
  • 3288aea14c revert changes for split Tristan McGinnis 2025-05-04 14:11:39 -05:00
  • 0416277cd9 attempting to fix split error Tristan McGinnis 2025-05-04 14:09:54 -05:00
  • 440a94f0cc refactor some things, reenable feedback Tristan McGinnis 2025-05-04 13:56:14 -05:00
  • 9d13d487cb Fixes for string splitting Tristan McGinnis 2025-05-03 17:52:49 -05:00
  • 0ea4c73876 comment out some stuff to test delays Tristan McGinnis 2025-05-03 17:17:05 -05:00
  • 43fdc7587a send manual control debug print Tristan McGinnis 2025-05-03 13:31:06 -05:00
  • 53b4259ade disable feedback Tristan McGinnis 2025-05-03 13:22:59 -05:00
  • 482bedbfaf debug print for manual control Tristan McGinnis 2025-05-03 13:12:15 -05:00
  • 923dfa20ca remove all debug publishing for arm Tristan McGinnis 2025-05-03 13:05:56 -05:00
  • 6a747f92fb Fix: Add more dummy values to support new urdf Tristan McGinnis 2025-05-03 12:53:43 -05:00
  • 9f8f51b742 Fix: missed a spot Tristan McGinnis 2025-05-03 12:50:12 -05:00
  • 8b9b72e78f Add dummy link for effector Tristan McGinnis 2025-05-03 12:48:01 -05:00
  • c9533e3f55 Convert angles to radians for IK Tristan McGinnis 2025-05-03 12:43:17 -05:00
  • 2860463501 fixes and debug to ik- need to update the model ASTRA-SHC 2025-04-26 13:04:20 -05:00
  • 60952db588 swap to numpy arrays Tristan McGinnis 2025-04-26 12:17:10 -05:00
  • 3d18e20946 More fixes for arm_node.py Tristan McGinnis 2025-04-26 12:10:33 -05:00
  • 5eb9e8a2e3 add get_position_vector3() Tristan McGinnis 2025-04-26 12:08:46 -05:00
  • c302626512 remove vector normalization- done on base station Tristan McGinnis 2025-04-26 12:04:38 -05:00
  • 5c41d66404 debug printing Tristan McGinnis 2025-04-26 12:02:30 -05:00
  • dde9d61a33 fix formatting for anchor print statements in arm and core Tristan McGinnis 2025-04-19 11:46:36 -05:00
  • 3985c11ae2 Added debug output to /arm/feedback/debug for testing IK Tristan McGinnis 2025-04-18 13:34:53 -05:00
  • 4420e83981 remove debug print for arm_node Tristan McGinnis 2025-04-16 20:36:35 -05:00