Force Estimation

.gitignore

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 .idea/
 __pycache__/
-chemistry.csv
+.venv/
+chemistry.csv
+.DS_Store

sally_description/CMakeLists.txt

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+cmake_minimum_required(VERSION 3.8)
+project(sally_description)
+
+find_package(ament_cmake REQUIRED)
+
+install(DIRECTORY
+  config
+  launch
+  meshes
+  rviz
+  urdf
+  DESTINATION share/${PROJECT_NAME}/
+)
+
+# Add tests and test dependencies
+if(BUILD_TESTING)
+  find_package(ament_lint_auto REQUIRED)
+  set(ament_cmake_copyright_FOUND TRUE) # skips copyright check
+  set(ament_cmake_cpplint_FOUND TRUE)   # skips cpplint
+  ament_lint_auto_find_test_dependencies()
+endif()
+
+ament_package()

sally_description/README.md

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+# Lightweight Observation Robot for Irregular Slopes (LORIS)
+
+## Overview
+
+LORIS is a 3.6 kg quadruped robot that can ascend unstructured steep and vertical terrain using passive microspine grippers.
+
+For further details, please refer to the following publication:
+
+> P. Nadan, S. Backus and A. M. Johnson, "LORIS: A Lightweight Free-Climbing Robot for Extreme Terrain Exploration," in IEEE International Conference on Robotics and Automation (ICRA), 2024, pp. 18480-18486, doi: 10.1109/ICRA57147.2024.10611653.
+
+## Usage
+
+The `loris_description` package contains a `display.py` launch file that will display the robot geometry in `rviz` with an interface for changing joint angles.
+
+```
+ros2 launch loris_description display.py
+```
+
+Optional Xacro arguments can be included as follows:
+
+```
+ros2 launch loris_description display.py xacro_args:='param1:=value1 param2:=value2'
+```
+
+The following Xacro arguments are supported:
+
+| Parameter        | Description                                                                  |
+| :--------------- | :--------------------------------------------------------------------------- |
+| floating_wrist   | Represent each wrist as 1 floating joint instead of 3 passive joints if true |
+| camera_height    | Camera mounting height (m from body origin to pitch axis)                    |
+| camera_pitch     | Camera mounting pitch (deg downward from horizontal)                         |
+| gripper_offset   | Gripper angle offset (deg outward from centerline)                           |
+| gripper_offset_1 | Override front left gripper angle offset                                     |
+| gripper_offset_2 | Override front right gripper angle offset                                    |
+| gripper_offset_3 | Override rear left gripper angle offset                                      |
+| gripper_offset_4 | Override rear right gripper angle offset                                     |
+| effort           | Actuator torque limit (Nm)                                                   |
+| velocity         | Actuator velocity limit (rad/s)                                              |

sally_description/config/joint_names_sally_original_current.yaml

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+controller_joint_names: ['', 'left_joint', 'left_steer_joint_1', 'left_drive_joint_1', 'left_steer_joint_3', 'left_drive_joint_3', 'right_joint', 'right_steer_joint_2', 'right_drive_joint_2', 'right_steer_joint_4', 'right_drive_joint_4', 'elevator_joint', ]

sally_description/launch/display.py

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+"""
+Simple launch file to display a robot URDF file.
+
+Optional Launch Arguments:
+    urdf: Robot description file in urdf/ directory
+    rviz: Rviz configuration file in rviz/ directory
+    xacro_args: Additional arguments for xacro (e.g. 'param:=value')
+"""
+
+from launch import LaunchDescription
+from launch.actions import DeclareLaunchArgument
+from launch.substitutions import (
+    LaunchConfiguration,
+    Command,
+    PathJoinSubstitution,
+)
+from launch_ros.actions import Node
+from launch_ros.substitutions import FindPackageShare
+from launch_ros.parameter_descriptions import ParameterValue
+
+# Package name and default values
+PACKAGE = "sally_description"
+DEFAULT_URDF = "sally.urdf.xacro"
+DEFAULT_RVIZ = "display.rviz"
+DEFAULT_XACRO_ARGS = ""
+
+# Find resource paths
+pkg = FindPackageShare(PACKAGE)
+urdf_path = PathJoinSubstitution([pkg, "urdf", LaunchConfiguration("urdf")])
+rviz_path = PathJoinSubstitution([pkg, "rviz", LaunchConfiguration("rviz")])
+
+# Generate URDF from XACRO
+description = ParameterValue(
+    Command(["xacro ", urdf_path, " ", LaunchConfiguration("xacro_args")]),
+    value_type=str,
+)
+
+
+def generate_launch_description():
+    # Declare launch arguments
+    urdf_arg = DeclareLaunchArgument(
+        "urdf", default_value=DEFAULT_URDF, description="Robot description file"
+    )
+    rviz_arg = DeclareLaunchArgument(
+        "rviz", default_value=DEFAULT_RVIZ, description="Rviz configuration file"
+    )
+    xacro_args_arg = DeclareLaunchArgument(
+        "xacro_args",
+        default_value=DEFAULT_XACRO_ARGS,
+        description="Xacro arguments (e.g. 'param:=value')",
+    )
+
+    # Declare ROS nodes
+    robot_state_publisher = Node(
+        package="robot_state_publisher",
+        executable="robot_state_publisher",
+        name="robot_state_publisher",
+        output="screen",
+        parameters=[{"robot_description": description}],
+    )
+    joint_state_publisher = Node(
+        package="joint_state_publisher_gui",
+        executable="joint_state_publisher_gui",
+        name="joint_state_publisher_gui",
+        output="screen",
+    )
+    rviz2 = Node(
+        package="rviz2",
+        executable="rviz2",
+        name="rviz2",
+        arguments=["-d", rviz_path],
+        output="screen",
+    )
+
+    return LaunchDescription(
+        [
+            # Launch arguments
+            urdf_arg,
+            rviz_arg,
+            xacro_args_arg,
+            # ROS nodes
+            robot_state_publisher,
+            joint_state_publisher,
+            rviz2,
+        ]
+    )

sally_description/package.xml

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+<?xml version="1.0"?>
+<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
+<package format="3">
+  <name>sally_description</name>
+  <version>0.0.0</version>
+  <description>Sally (magnetic wall climber) robot description and configuration</description>
+  <maintainer email="[email protected]">Paul Nadan</maintainer>
+  <maintainer email="[email protected]">Nathan Sun</maintainer>
+  <license>MIT</license>
+
+  <buildtool_depend>ament_cmake</buildtool_depend>
+
+  <exec_depend>ros2launch</exec_depend>
+  <exec_depend>launch_ros</exec_depend>
+  <exec_depend>xacro</exec_depend>
+  <exec_depend>robot_state_publisher</exec_depend>
+  <exec_depend>joint_state_publisher_gui</exec_depend>
+  <exec_depend>rviz2</exec_depend>
+
+  <test_depend>ament_lint_auto</test_depend>
+  <test_depend>ament_lint_common</test_depend>
+  <test_depend>ament_cmake_gtest</test_depend>
+
+  <export>
+    <build_type>ament_cmake</build_type>
+    <gazebo_ros gazebo_model_path="${prefix}/../"/>
+  </export>
+</package>