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Force Estimation #2

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Force Estimation #2

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@NSSRS NSSRS commented Dec 12, 2024

Added force estimation and URDF files, finished ROS2 conversion

Shane and others added 24 commits July 30, 2024 14:23
Added IMU node to launch file and listener.py, moved listener instanc…
60aa2f3 
…e to robot.py from teleop.py
Added alignment logic, vector calculations, and robot state tracking
c97028b
Added climbing logic and basic velocity controller
30b3d07
Added force estimation, may need tweaks
4c9cc76
@NSSRS
merging ros2 conversion into auto-transition
45c2c4b
@NSSRS
removed old listener.py
7d00507
@NSSRS
verified merged ros2 code on wall climber
11822f3
@NSSRS
converted wc_nopxrf and wc_pxrf launch files, testing and verificatio…
eedebba 
…n pending
@NSSRS
new microstrain inertial params file for ros2, needing fixes
9c5951f
@NSSRS
contact forces now calculated, may need tuning. Launch file may not f…
0a96e54 
…unction
@NSSRS
force estimation solved correctly, launch file may need tweaks
62c6a41
@NSSRS
With URDF, need to comment out main in launch file and run main seper…
9feab54 
…ately
@NSSRS
launch file corrected
44f0e08
@NSSRS
changed listener class name to sally_node, publisher still WIP
1e6124f
@NSSRS
tesing publisher of force estimation for URDF
63a5c8d
@NSSRS
small debugs of publisher, WIP
3fa630a
@NSSRS
merging ros2 into auto-transition
9308af9
@NSSRS
fixed lstsq outputting excessive arrays, need to modify urdf, not par…
49ef0f0 
…sing
@NSSRS
Used linting tool and reformatting tool to clean up code, need testing
9a782d3
@NSSRS
added a python launch file in launch, need testing
d34f7ce
@NSSRS
python launch file and rviz2 display forces implemented, need to chec…
85de3be 
…k contact force estimation
@NSSRS
Contact force estimation and rviz working
55fffa4
@NSSRS
added sally_description URDF package into git
3f03947
@NSSRS
linted sally_description
b032798
@NSSRS NSSRS requested a review from paul-nadan December 12, 2024 18:58
@NSSRS NSSRS self-assigned this Dec 12, 2024
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@paul-nadan paul-nadan Awaiting requested review from paul-nadan

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