(WIP) Arm autonomy #4
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- Added folder for controllers - Added folder for hardware interface - Added folder for launch file
- Renamed 'controllers' to 'config' and added yaml file with joint names - Added WIP hardware interface, still working on robot specific cmds + getting vectors/containers made for all the necessary data
…orkspace, still figuring out two compile errors
…ng data from the arm - Created seperate "arm_state" interface to avoid clogging up hw_interface code with extra sm defines and functions - Added in variables for pos, velocity, and effort for robot state controller - Added 3 getter functions for joint data (setters will be implemented when planning write func)
…or getter functions
…with the hardware interface
- ordered vectors so they match joints list - added read params for joint positions
- Added in functions for getting arm states to main hw interface - Made loop for placing values into vectors
- Added functionality for writing in arm_state using the 'smSetParameter' cmd. - There are ways to optimize writing/sending of cmds, but this will hopefully work for the first iteration - Added interface in hw interface for writing using the functions created in arm_state
…ch file to include it. Currently investigating errors with launch file.
…ntly having compilation errors - Redid CMake file/package.xml to designate the 'arm_hw_interface_node' as an executable - This redoing caused previously 'hidden' errors to appear bc of properly compiling the arm state code - Type mismatch between the Smints (long int) required for ionis and doubles required for controllers is causing probs - currently working on trying to cast smints to correct data type for controllers + added in additional double vars to store these
…destructor of the arm state class
… Created new tab for MoveIt interface. MoveIt widget/slots still being worked on. groundstation.launch set to launch the single screened version of groundstation. Temporarily removed some files as they were causing build issues. Will pull these files into branch again at a later date.
- stop controllers is only a function in melodic and higher - going to look into "ignoring" messages instead of directly interfacing with ros control
- added pub + subscriber for querying/updating status of controllers. - two booleans control the status for the arm- one checks if the button has been pushed, the other checks if the hardware interface is actually running.
…difying the c++ side of things
…d on the groundstation. Still figuring out what UI to use for the indicator for if IK is on or off
…ction for the ik indicator. Need to create a UI file as well...
…roslaunch rover_main ground_station.launch to view.
… file/variable names
…to test things...
…ers as well as launch file for rover
…the groundstation.
…ndstation should bring up the IK controls interface and MoveIt. Maps have been temporariliy disabled to allow the groundstation to launch on a computer even if key is not present.
Merge UI for arm-autonomy into the arm-autonomy branch
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Work in progress branch for developing ROS control for arm autonomy.