- Add build.sh in ariac_ws to build and enable motion planning
- Add arm_pub_test.sh to publish a target position ros message
- Add arm_test.sh to build and run arm_controller_node
- Add option to stop test insert object
- Remove comments from model_insertion_plugin.cpp
- Update home.md to specify root user when attaching a new terminal
- Add node for controlling arm
- Add node for cv model
- Add trained cv model data
- Add node for handling depth camera
- Add node for spawning in new items
- Add main node to handle interactions with other nodes
- Remove unnecessary sensors
- Add script to run sim without building
- Add script to run sim with full catkin rebuild
- Remove default sensors and arm2 from sim
- 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
