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… error on catkin_make.
… tested the SimpleActionServer with MoveIt configuration in the demo_test.launch wroboarm_21 launch file. MoveIt confirmed to be talking to the server and hearing the A-OK message.
…/avoid repitition on the details of driving to a position and setting power.
… and server actions.
… TF/Joint State data.
…cience control subsystems.
…oint states from the right source.
…plicate definition, include all methods used, and compile.
…needed for publishing Joint State data and to compile ArmControlSystem.cpp and ArmMotor.cpp together.
…ith the leading 'w'.
…nt16 and not UInt16. Patched the warning of integer overflow for the COUNTS_PER_ROTATION constant.
… by making the ArmMotor array into an ArmMotor* array, which avoids instantiation entirely until necessary.
…r than NodeHandles themselves.
…ely reflect the problem described.
…the radians or encoders on their proper bounds, moved the two methods closer for readability.
… the right datatypes to encapsulate the values; made the encoder bounds and COUNTS_PER_ROTATION into static constant variables.
…ual transformation desired in accordance with the tests here: https://www.desmos.com/calculator/j8zidhiefy
…ded some moderately noisy but tolerable debugging information.
…of the arm for testing purposes.
…d move there. Confirmed to work.
…rt the ArmTeleopLogic `rosrun`.
* header for differential joint class * joint progress: non functional * simple joint compiles, does not work * differential joint - compiles - untested * position handoff is working, velocity untested * gpp is very unhappy * almost * added checks for stall in ArmMotor and up * debugging * debugging: fixed issues with incompatible variables, added TODO in execute method of ArmControlSystem * Updated implementation incorporating actual motor current publishers * Began services * More service/client implementation and comments * Dev/differential joint (#18) * compiles * execution working, error with wrist matrix * fully functional - need mocked writst logic * Dev/new urdf (#17) * model working, trajectory data if wrong * working :) * good joint limits * controller mapping changes * simple joint abstraction workging with new model * differentail joint working * fixed entry point launch file conflicts * fixed teleop bug and combined arm test into one launch file * Arm viz (#16) * added motor specfic bound + offset for arm * mocked roboclaws working with new encoders * fixed encToRad * ready to test * fixed launch files * fixed diff joint encoder reading * Config file and setup changes due allow robot to run normally, and then add visualization on top. There are pending logical and setup errors in at minimum ArmControlSystem.cpp that must be fixed prior to testing. * debugging for publish() * Updating `corrMod` implementation. * lint * lint-b-gone * liiiiiiiiiiiint * Tuning/preliminary homing updates. * Parameterizing offset/ratio parameters for the arm. Initializing default position to be offset ("home"). * Further tuning updates. Co-authored-by: Nicholas Underwood <ndunderwood@wisc.edu> Co-authored-by: WR-BaseStation <wisconsinrobotics@cae.wisc.edu> Co-authored-by: Arthur Wang <arwang5@wisc.edu> Co-authored-by: Nicholas <nachos.underwood@gmail.com> Co-authored-by: Nicholas Underwood <ndunderwood@wisc.edu> Co-authored-by: WR-BaseStation <wisconsinrobotics@cae.wisc.edu> Co-authored-by: Arthur Wang <arwang5@wisc.edu> Co-authored-by: Nicholas <nachos.underwood@gmail.com> Co-authored-by: Nicholas Underwood <ndunderwood@wisc.edu> Co-authored-by: WR-BaseStation <wisconsinrobotics@cae.wisc.edu> Co-authored-by: Arthur Wang <arwang5@wisc.edu> Co-authored-by: Nicholas <nachos.underwood@gmail.com> Co-authored-by: Arthur Wang <arwang5@wisc.edu> Co-authored-by: Nicholas Underwood <ndunderwood@wisc.edu> Co-authored-by: WR-BaseStation <wisconsinrobotics@cae.wisc.edu> Co-authored-by: Nicholas <nachos.underwood@gmail.com> Co-authored-by: Arthur Wang <arwang5@wisc.edu> Co-authored-by: Nicholas Underwood <ndunderwood@wisc.edu> Co-authored-by: WR-BaseStation <wisconsinrobotics@cae.wisc.edu>
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