44378f5455
Added voice control and joint limits
2022-04-07 16:33:58 -04:00
a0ee92d53a
AAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAA
2022-03-22 20:38:54 -04:00
25a94b161d
Current pain
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Works only in cartesian mode
Something about trajectory time being zero again
2022-03-22 20:21:28 -04:00
293f603a8b
Fixed gear ratios
2022-03-22 16:42:04 -04:00
0e0629054c
Added more useful docs
2022-03-21 23:19:39 -04:00
91a042ef9f
Fixed move_group_interface
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Launchfile changes probably irrelevant but i'm committing every change
just in case
2022-03-21 23:02:55 -04:00
9fdd5cf353
Added comments
2022-03-15 21:17:08 -04:00
2d858ab961
Added comments
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ar3_config launch file
cobot_platform move.py
joystick move.py
mgi cpp file
2022-03-15 21:06:20 -04:00
3b21854d5e
setting default pipeline to ompl
2022-03-01 20:25:42 -05:00
Thomas Muller
f20e8cce95
Unbroke most of mgi node
2022-03-02 00:31:55 +00:00
75e238ec5f
The node doesn't instantly die anymore
2022-03-01 17:04:24 -05:00
0f4886c48f
res/req and vizualization not working reeeee
2022-02-24 09:32:50 -05:00
c6f05f0db3
Fuck yes. move_group_interface is basically done
2022-02-16 01:22:06 -05:00
c478876ecf
Broken moveit_commander c++
2022-02-15 22:21:15 -05:00
215bfa2dc2
Fixed joint_state_broadcaster and changed some encodery shit
2021-10-08 19:14:44 -04:00
fb576de834
Get encoder values all the time
2021-10-08 17:47:53 -04:00
ee0ba4cb33
joystick works?
2021-10-08 16:07:36 -04:00
Thomas Muller
c0d20e2f7b
Kinda works... ish
2021-09-28 15:30:05 +00:00
3db39b9ec3
Joystick almost works
2021-09-24 18:47:29 -04:00
056fa3de68
Merge branch 'master' into brokenaf
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bonk
2021-09-23 11:43:34 -04:00
Thomas Muller
919b8c203c
Forgot files >:(
2021-09-23 14:38:47 +00:00
Thomas Muller
724839cf19
Fixed configs and added real ratios for J1 and J2
2021-09-23 14:28:45 +00:00
8527b2411e
Almost have joystick working
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Added yaml config for ar3 simulation
Added moveit_servo to handle joystick inputs
Made launch file slightly more readable
Made joystickmove actually move the robot according to robot
Changed joystickmove executable name to move
2021-09-20 20:25:09 -04:00
21440062d4
stuff
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Why do I even subject myself to ros
Launch file aids has been nuked from orbit
Wrong ompl planning default name fixed
Get that spammy print outta my life
2021-09-15 14:23:29 -04:00
Thomas Muller
0528093f41
Robot actually moves actual real hardware now
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Actually
Gear ratios subject to change
Need to move state publisher into ar3_hardware/joint_state_broadcaster
2021-09-09 13:38:30 +00:00
Thomas Muller
70568e30b1
Merge branch 'master' of ssh://play.qtechofficial.com:9940/thomas/Cobots
2021-09-08 22:38:35 +00:00
Thomas Muller
5c294be8df
Real teensy protocol
2021-09-08 22:35:29 +00:00
aaaf8577d0
Robot dragging go brrrr
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added kinematics to rvis node
fixed collisions and added end effector
2021-09-08 18:35:29 -04:00
9cc4ad82f5
Planning actually works
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renamed joints in controller
added semantic robot definition to rviz
set default robot state back to static (no more spinny)
added collision detection
2021-09-08 15:15:09 -04:00
Thomas Muller
754d5d5d4c
Ar3HardwareSystem exists
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And is pain
2021-09-07 05:51:00 +00:00
bb0cfd40f4
Moveit is pain
2021-09-07 01:49:41 -04:00
Thomas Muller
35fae6afe5
Added config package
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Started controller things
2021-09-07 02:15:16 +00:00
Thomas Muller
180bbe225f
Merge branch 'master' of ssh://play.qtechofficial.com:9940/thomas/Cobots
2021-09-06 23:37:32 +00:00
Thomas Muller
f5e11c126a
Net robot works
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Kill me
2021-09-06 23:37:14 +00:00
farrell2017
c041ac26f0
Added joystick and platform packages
2021-09-06 19:00:41 -04:00
Thomas Muller
609b24c884
Added net_robot package
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Also fixed the spelling of John's last name or something
2021-09-06 22:39:15 +00:00
Thomas Muller
3c53174f63
Really bad state publisher server
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Listens on port 9999 for 6 joint targets and a \n
Angles are in degrees
2021-09-06 22:27:46 +00:00
Thomas Muller
9eff9ec145
Initial Commit
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URDF and STLs stolen from https://github.com/ongdexter/ar3_core/tree/master/ar3_description
Bare minumum state publisher from ROS2 tutorials
2021-09-06 20:49:44 +00:00
