- Update gitignore to ignore build, devel, and install folders in rrrobot_ws
- Remove git submodules
- Rename rrrobot_src to rrrobot_ws indicating that this is a catkin workspace
- Create GEAR docker container
- Move GEAR specific documentation to its own page
- Add link to overleaf report on home page
- Add tips & tricks section to home page
- Remove gazebo source submodule
- Fix dockerfile to use sudo to install ariac3 package
- Remove instructions related to submodule
- Remove sourcing setup.bash in workspace from instructions
-Removed gravity (temporary, I hope). I was struggling to get inverse dynamics working correctly to provide a torque to compensate for gravity. Eventually, I think we want to have a PID, plus gravity compensation.
-Created a demo world with setpoints that the robot heads to.
-Arm kinematic representation is working.
-PID control of each joint is working to a basic extent. Some segments are more responsive than others.
Still to do:
-reading in SDF should be more robust, and should support all joint types
-better control
-obstacle avoidance in arm movement path
-control with gravity
-arm joint limits, and shortest path to angle (ie considers that theta wraps at 2 pi
- Add instructions for running warehouse simulation to README
- Create new warehouse docker service based on gazebo service
- Add new warehouse Dockerfile with commands for installing GEAR
- Rename Documents folder to docs
- Add _config.yml to define GitHub pages jekyll theme
- Move README to homepage of website
- Add new README with link to project website
- Fix links to documents in website
- Copy /opt/ros/melodic/share/catkin/cmake/toplevel.cmake instead of using a symbolic link
Ran into issue with symbolic link and docker toolbox, so just copied the
file that was being linked to.
- Add table of contents
- Make "Running Containers" a sub-section of "Development Guide"
- Add description of all docker compose services
- Add section for "GUI Support" and explain how to resolve OpenGL issue in WSL
- Add course staff to list of contributors
- Make filepath links consistent (no leading ./)
- Remove CAD model links (moved to google doc)
- Add section with instructions on running containers
- Add comments to docker-compose.yml
- Add ros-turtlesim service
- Use IP_ADDRESS environment variable in docker-compose.yml
- Add .env to specify IP_ADDRESS environment variable
