- Remove extra points after decimal and slightly increase z for arm_pub_test
- Increase rotation threshold to 0.05 for comparing quaternion orientations
- Remove TODO comments
- Fix z offset direction when correcting position if item doesn't attach
- Remove commented out code from test_arm
- Test arm prints to arm_test.debug instead of data.txt
- Update gitignore to not include .debug files
- Fix target location for dropping item when checking if it has been reached
- Compare quaternion rotations instead of roll, pitch, yaw for mathematical robustness
- Make ros spinner asynchronous
Co-authored-by: dwitcpa <dwitcpa@umich.edu>
- Add instructs for running all simulation nodes
- calculateInverseKinematics takes double vector instead of JntArray now
- Fix calls to calculateInverseKinematics
- Fix orientations and bin positions in arm_pub_test.sh
- calc_joint_positions takes start location as argument so we can path plan from intermediate states
- Add some ROS_INFO prints for debugging
- Fix bug in cv_model.py
- Fix orientations sent by depth_camera_node.cpp
- Add a small z offset to desired grasp pose in rrrobot_node before sending to arm controller so end effector doesn't hit object
Co-authored-by: dwitcpa <dwitcpa@umich.edu>
- Add parameters for arm controller: time per step, retry attempts, and z adjustment when trying to attach item
- Implement retry attempts for arm_destination_callback
- Add enum arm_action_phase to allow for different trajectories based on phase
- Add intermediate positions to send_joint_trajectory function
- gripper_control function now returns success status
Co-authored-by: dwitcpa <dwitcpa@umich.edu>
- Remove ArmRepresentation class (commented out) from arm_controller_node.cpp
- Give additional time to joint trajectory if we don't reach the target
- Change arm_pub_test.sh location
- Add script to move robot to all joint positions = 0
Co-authored-by: dwitcpa <dwitcpa@umich.edu>
- Fix base position and orientation relative to world in arm_representation.h
- Update all joint rotation defintions to use Quaternions
Co-authored-by: dwitcpa <dwitcpa@umich.edu>
- Fix base position and orientation relative to world in arm_representation.h
- Update all joint rotation defintions to use Quaternions
- Add script to move all arm joints to position 0
Co-authored-by: dwitcpa <dwitcpa@umich.edu>
- Add PCL, Eigen3, KDL dependencies to CMakeLists.txt
- Clean up and fix typos in topic_names.h
- Add KDL implementation of arm_controller_node
- Fix small typo in depth_camera_node.cpp
- Fix small typo in rrrobot_node.cpp
- Add instructions for building RRRobot package and running node
- Fix gitignore not ignoring core files and add comments
- Remove MoveIt dependencies from Dockerfile
- Delete build.sh from ariac_ws since not using MoveIt configs
- Remove catkin_make clean from arm_test.sh
- Remove catkin_make clean and install from rrrobot_run.sh
- Ignore core file
- Add moveit_ros_planning_interface to catkin required components
- Add executables for arm_controller and comment out other nodes
- Move position of depth camera
- Add arm_controller MoveIt implementation
- 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
