| docs: sync architecture and rename legacy control modes
Update READMEs and architectural documentation to reflect the removal of
'rosetta' and 'robot_interface' packages. Sync 'teleop_act' to
'model_inference' across all configuration and documentation files.
- Remove all 'rosetta' and 'robot_interface' mentions in READMEs.
- Update 'docs/architecture.md' and 'docs/roadmap.md' to current status.
- Rename 'teleop_act' mode to 'model_inference' in robot_config YAMLs.
- Update launch builders to search in 'robot_config/config/contracts'.
- Clean up 'tensormsg' docstrings and comments.
Signed-off-by: XiaoqiangWu <wuxiaoqiang.rtos@huawei.com>
| 2 个月前 |
| robot_config: integrate lekiwi mobile base
Add a LeKiwi robot profile with control, teleop, recording, and
navigation support so the mobile base can launch through the
unified robot_config entrypoint.
Wire Gazebo sensor bridges for the LeKiwi simulation path and
extend robot_config builders to support the new mobile base.
Co-authored-by: Copilot <223556219+Copilot@users.noreply.github.com>
Signed-off-by: XiaoqiangWu <wuxiaoqiang.rtos@huawei.com>
| 1 个月前 |
| feat: camera calibration system for Gazebo and MuJoCo
Add sim-aware camera alignment and Gazebo proxy adjustment.
Add MuJoCo calibration support via isolated Gazebo.
Keep overrides and robot spawn owned by robot_config.
| 12 小时前 |
| chore: initial monorepo migration for IB_Robot
Signed-off-by: XiaoqiangWu <wuxiaoqiang.rtos@huawei.com>
| 3 个月前 |
| feat: implement and optimize Xbox teleoperation support
* Add XboxTeleopDevice with full-state reporting
* Fix dead-travel and jumps via State-Following and Direction-Snap
* Increase lead clamping to 0.5 rad for better responsiveness
* Add tiered and mode-specific usage instructions
* Delay teleop startup until controllers are ready in launch
* Enable gripper control in Cartesian mode
* Add Xbox mapping and MoveIt Servo configurations
| 2 个月前 |
