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Nancy euRobin'24 Changes #1

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CDonosoK
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Nancy euRobin'24 Changes

  • The teleoperation bridge between ROS and Cartesio is implemented
  • Node is added to control the base using a joystick
  • Update CMakeLists.txt and remove any unnecessary configuration
  • Add max values for the force and torque in the control bridge

EnricoMingo and others added 30 commits May 27, 2024 19:08
@EnricoMingo
Added file to send references as JointTrajectory to ros_control, slig…
df67558 
…htly change in the stack
@EnricoMingo
added trasformation from /map to /ci/world
6aacb61
@EnricoMingo
Added code to run on the real robot
76f94f1
@EnricoMingo
added bridge from teleoperation device to cartesio
bb55aa1
@EnricoMingo
Cartesian tasks for the arms are in base_link
4bd5359
@EnricoMingo
Added launch file for teleop.py
07e02ab
@EnricoMingo
Added python script for teleoperate the gripper
2f9577a
@EnricoMingo
Added service to enable/disable send of commands to controllers
111f058
@EnricoMingo
Added missing gripper script
06772dd
@EnricoMingo
Update README.md
93ff236
@EnricoMingo
set to false inertia weight for the postural task
bc5e39b
@EnricoMingo
Added camera frame
3f4e275
@EnricoMingo
Fixed bug in initialization
c1f1576
@fabio-amadio
Modified ros ctrl bridge & stack
d324750
@fabio-amadio
Adjysted right camera tf
ab514d7
@fabio-amadio
Update camera_right_frame
72eecb8
@fabio-amadio
Adding static_tf odom=ci/world
3e7435d
@fabio-amadio
Removed Gaze and Omni4X tasks from stack
b2386a0
@fabio-amadio
Update rviz settings
796172e
@fabio-amadio
Added camera_left_frame
4be4e60
@CDonosoK
- Updated launch files to support teleoperation with both left and ri…
baf3906 
…ght arms

- Ensured proper communication and control for dual-arm operation
- Tested and verified functionality for both arms simultaneously
@CDonosoK
Change arg names for each arm and gripper
30854a9
@fabio-amadio
Removed left joint 7 from tiago_dual.stack
f8809a6
@fabio-amadio
Added log to ros_control_bridge/send_commands
eebf06a
@fabio-amadio
Added head camera frame
7159479
@CDonosoK
Add functionality to klill the node with the streamdeck
99858a1
@CDonosoK
Update ros_control_bridge.py
9c11059 
Now you can kill the node using the streamdeck and also using ctrl+c
@fabio-amadio
Added demo_recorder (and minor formatting)
45bf6af
@fabio-amadio
Updated demo recorder
a14567c
@fabio-amadio
Fixed recorder and added dummy postprocessing script
1a76724
fabio-amadio and others added 21 commits October 7, 2024 18:33
@fabio-amadio
Added param for setting tf record rate (and fixed indices)
d2ba54d
@fabio-amadio
Saving into date-time-stamped folders
be682cc
@fabio-amadio
Re-enabled arm_left_7_joint
150027b
@fabio-amadio
Added ft emergency stop
62932b0
@fabio-amadio
Fixed ft cb
925f16c
@fabio-amadio
Minors
4b71251
@fabio-amadio
Minor formatting
39ba239
@CDonosoK
Update teleop_gripper_bridge.py
0e7e8c9 
Comment line:
gripper_cmd_msg.header.stamp = rospy.get_rostime()

Now the teleoperation is workin
@CDonosoK
rosnode is not anymore anonymous
badc94a 
Change the node param "anonymous" to False to kill  it remotely
@CDonosoK
rosnode is not anymore anonymous Beta
7445b8b 
Change the node param "anonymous" to False to kill  it remotely
@CDonosoK
Update gitignore file and change values of the force and torque limit…
da9a1e9 
…, still need to tune this values
@fabio-amadio
Test current limit setter
e392234
@fabio-amadio
Added initial lowering of grippers' current limits
1034aa6
@CDonosoK
Minor changes to the gripper right min value, to close it more. And c…
6cee5d0 
…omment the current control
@fabio-amadio
Demo recorder interactive terminal menu
7b79e35 
TODO: call to orbbec log cmd topic
@fabio-amadio
Removed demo_recorder.py
b2cc565 
Moved to orbbec camera repo
@fabio-amadio
Removed postural gui from cartesio.launch
89efe95
@fabio-amadio
Changed camera_head_frame transformation
6da16c7
@fabio-amadio
Reduced postural lambda
91f0bfa
@CDonosoK
Add joystick controller
4d15d9f
@CDonosoK
Remove launch for demo recorder since the demo_recorder.py was removed
e914066
@CDonosoK CDonosoK requested a review from EnricoMingo January 13, 2025 10:49
@CDonosoK CDonosoK self-assigned this Jan 13, 2025
@CDonosoK CDonosoK marked this pull request as draft January 13, 2025 11:02
@CDonosoK CDonosoK marked this pull request as ready for review January 13, 2025 11:07
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@CDonosoK @EnricoMingo @fabio-amadio