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Remapping controller#46

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JackZautner wants to merge 67 commits intomasterWisconsinRobotics/WRover_Software_23-24:masterfrom remapping-controllerWisconsinRobotics/WRover_Software_23-24:remapping-controllerCopy head branch name to clipboard

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Commits

Commits on Mar 22, 2021

• Adding arm mesh files, launch files

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• Actually added the Arm MoveIt files this time.

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• Added a wr_control_arm package.

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• Created the Action server file.

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• Added ArmControlSystem source file with default logic for a simple action server.

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• Added wr_control_arm package build files, currently debugging a build error on catkin_make.

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• Build succeeds on changes logged.

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• Recompiled wroboarm_21 for ROS package detection.

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• Added a RViz launch file to test MoveIt/WRobot integration.

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• Moved wr_control_arm to pre-existing package wr_control_drive_arm and tested the SimpleActionServer with MoveIt configuration in the demo_test.launch wroboarm_21 launch file. MoveIt confirmed to be…

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• Added an ArmMotor class to represent the per motor logic and abstract/avoid repitition on the details of driving to a position and setting power.

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• More progress on ArmMotor.cpp, implemented simple runToTarget methods and server actions.

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Commits on Mar 23, 2021

• Control loop added, missing ROS logic (spins and such) and publishing TF/Joint State data.

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• Added framework of publishing Joint State data.

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• Moved and resorted the CMakeLists and package files for the arm and science control subsystems.

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Commits on Mar 26, 2021

• Modified the demo_test.launch file to run the 'real' robot and read joint states from the right source.

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• Updated source code to correctly implement header functions, avoid duplicate definition, include all methods used, and compile.

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• Modified CMakeLists and package.xml to depend on the new sensor_msgs needed for publishing Joint State data and to compile ArmControlSystem.cpp and ArmMotor.cpp together.

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• Re-referenced the wroboclaw topics; wroboclaw topics aren't spelled with the leading 'w'.

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Commits on Mar 29, 2021

• Updated motor power message types for the arm control system to use Int16 and not UInt16. Patched the warning of integer overflow for the COUNTS_PER_ROTATION constant.

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Commits on Apr 8, 2022

• Merge remote-tracking branch 'origin' into Arm_Control_System

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• Arm and entry (#21)

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• Fixing build.

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Commits on May 1, 2022

• De-linting for Arm_Control_System Branch (#22)

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Commits on Oct 13, 2022

• Merge branch 'master' of github.com:WisconsinRobotics/WRover_Software into Arm_Control_System

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• Changed encoder offsets

  JackZautner

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• fixed enc read bug

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• Merge branch 'Arm_Control_System' into Arm_Control_System

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• fixed assembly files

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Commits on Oct 17, 2022

• Modified stall checking logics

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Commits on Oct 18, 2022

• Adapting to real hardware

  

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Commits on Oct 25, 2022

• Initial commit

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Commits on Oct 26, 2022

• fixin' things

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Commits on Oct 27, 2022

• Undid local testing changes

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• Undid local testing changes 2: electric boogaloo

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Commits on Oct 28, 2022

• more fixin'

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• Fixing PID constants

  

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Commits on Nov 11, 2022

• Using WROVER_HW to set encoder params

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Commits on Nov 15, 2022

• Updated moveit using new URDF

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Commits on Nov 17, 2022

• started fixing the launch files and packages for the new arm

  JackZautner

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Commits on Nov 22, 2022

• Changed the names of the joints in the control layer

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• Generated new moveit package

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Commits on Nov 23, 2022

• Removing self-dependency

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• cleanup and fixes, works again

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Commits on Dec 6, 2022

• Separated action server and joint state publisher into separate applications for arm control system

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• Deleted old ArmControlSystem file

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• WIP on joint limits

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Commits on Dec 7, 2022

• Fixed date in header

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Commits on Dec 8, 2022

• Merge branch 'test/rviz' of github.com:WisconsinRobotics/WRover_Software into joint-state-publisher-application

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• Merge pull request #28 from WisconsinRobotics/joint-state-publisher-application

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Commits on Jan 23, 2023

• Fixed some of the arm code to run the controller and the jsp at the same time.

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Commits on Jan 24, 2023

• Fixing controller logic, issue in differential joint marked

  

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Commits on Feb 2, 2023

• Adding documentation for new structure

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• Updates to the structure to be better formed and more dynamic with respect to inheritance

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Commits on Mar 8, 2023

• Feature/arm code refactoring (#33)

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Commits on Mar 9, 2023

• Added implementation for scaling joint speeds based on gear ratios

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Commits on Mar 20, 2023

• Fixed joint target setting code as requested in PR

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Commits on Mar 21, 2023

• Restructured arm parameter files, added gear ratios to motor speed converters

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• Removed gear ratios from direct motor speed controllers, they are not meant to go there

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Commits on Mar 22, 2023

• Added gear ratios to joint position monitors, changed action server and joint state publisher to pull correct values from arm params

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Commits on Apr 3, 2023

• Updated launch files to reference correct parameters, added gear ratios to parameter files

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Commits on Apr 4, 2023

• Updated roboclaw offsets, cleaned up velocity scaling in arm control

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Commits on Apr 10, 2023

• Added map to store position monitor references

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• fixed error in constructor

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Commits on Apr 13, 2023

• Tuned gear ratios

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Commits on Apr 24, 2023

• Updated code in compliance with #41

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Commits on Apr 26, 2023

• re-mapped controller

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