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Force Estimation#2

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NSSRS wants to merge 24 commits intomainrobomechanics/wall-climber:mainfrom auto-transitionrobomechanics/wall-climber:auto-transitionCopy head branch name to clipboard

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Commits

Commits on Jul 30, 2024

• Added IMU node to launch file and listener.py, moved listener instance to robot.py from teleop.py

  

  Shane

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Commits on Aug 9, 2024

• Added alignment logic, vector calculations, and robot state tracking

  

  Shane

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Commits on Aug 12, 2024

• Added climbing logic and basic velocity controller

  

  Shane

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Commits on Nov 1, 2024

• Added force estimation, may need tweaks

  

  Nathan Sun

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Commits on Nov 4, 2024

• merging ros2 conversion into auto-transition

  NSSRS

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• removed old listener.py

  NSSRS

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• verified merged ros2 code on wall climber

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Commits on Nov 6, 2024

• converted wc_nopxrf and wc_pxrf launch files, testing and verification pending

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Commits on Nov 7, 2024

• new microstrain inertial params file for ros2, needing fixes

  NSSRS

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Commits on Nov 8, 2024

• contact forces now calculated, may need tuning. Launch file may not function

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Commits on Nov 11, 2024

• force estimation solved correctly, launch file may need tweaks

  NSSRS

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Commits on Nov 22, 2024

• With URDF, need to comment out main in launch file and run main seperately

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• launch file corrected

  NSSRS

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• changed listener class name to sally_node, publisher still WIP

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Commits on Nov 25, 2024

• tesing publisher of force estimation for URDF

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• small debugs of publisher, WIP

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Commits on Dec 5, 2024

• merging ros2 into auto-transition

  NSSRS

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• fixed lstsq outputting excessive arrays, need to modify urdf, not parsing

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Commits on Dec 8, 2024

• Used linting tool and reformatting tool to clean up code, need testing

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• added a python launch file in launch, need testing

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Commits on Dec 10, 2024

• python launch file and rviz2 display forces implemented, need to check contact force estimation

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• Contact force estimation and rviz working

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Commits on Dec 12, 2024

• added sally_description URDF package into git

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• linted sally_description

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