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Docs: Add documentation, bridge mapping config This commit introduces doc for install ROS neotic from source and compile ros1_bridge pkg on ubuntu 2204. And also addes bridge mapping config for Weilan Alpha Dog Dev messages. Signed-off-by: XiaoqiangWu <wuxiaoqiang.rtos@huawei.com> | 6 个月前 | |
Feat: Add Weilan Alpha Dog ROS message and service definitions This commit add ROS1 and ROS2 message, action and service definitions for Weilan Alpha Dog Dev in seprate workspace. Signed-off-by: XiaoqiangWu <wuxiaoqiang.rtos@huawei.com> | 6 个月前 | |
feat: add static bridge configuration Add static bridge launch file and topic configuration yaml. Update tmux start script to support the new bridge mechanism. Signed-off-by: XiaoqiangWu <wuxiaoqiang.rtos@huawei.com> | 6 个月前 | |
Feat: Add LeRobot SO101 arm description and controllers package This commit introduces LeRobot So101ARM's description pkg includes urdf mesh files and controller pkg to using ros2 control. Signed-off-by: XiaoqiangWu <wuxiaoqiang.rtos@huawei.com> | 6 个月前 | |
feat(so101): add native ros2_control C++ plugin and calibration service Add a native ros2_control hardware interface plugin for SO101 robotic arm, replacing the topic-based motor_bridge.py implementation. This provides better performance and direct integration with ros2_control ecosystem. Main changes: - Add so101_hardware_cpp package with C++ hardware interface plugin - Implements hardware_interface::SystemInterface for direct motor control - Supports Feetech SMS_STS servo motors via serial communication - Includes configurable reset_positions to prevent arm jumping on startup - Motor torque properly disabled on deactivation for safe shutdown - Add FTServo_Linux SDK as git submodule - Source: git@github.com:ftservo/FTServo_Linux.git - Provides serial communication interface for Feetech servos - Add dual-mode launch file (so101_hw_dual_mode.launch.py) - Supports both topic-based (motor_bridge.py) and C++ plugin modes - Conditional launching based on use_cpp_plugin parameter - Configurable port and reset_positions parameters - Add calibration_service.py - ROS2 service wrapper for arm calibration - Trigger interface for convenient calibration invocation - Update so101_ros2_control.xacro - Add use_cpp_plugin, port, and reset_positions xacro arguments - Conditional hardware plugin selection (C++ vs topic-based) - Add motor ID parameters for each joint (required by C++ plugin) - Default port changed to /dev/ttyACM0 - Update .gitignore to exclude Claude Code config files - Update README.md (Chinese) and add README.en.md (English) - Document FTServo_Linux as git submodule - Add submodule initialization instructions - Complete usage and troubleshooting documentation Benefits: - Direct ros2_control integration eliminates topic-based bridge overhead - Configurable reset positions prevent unsafe arm movements on startup - Proper torque disable on shutdown for safer operation - Maintains backward compatibility with topic-based mode See so101_hardware_cpp/README.md for detailed usage instructions. Signed-off-by: XiaoqiangWu <wuxiaoqiang.rtos@huawei.com> | 5 个月前 | |
Feat: Configure MoveIt 2 setup for LeRobot SO101 arm This commit introduces so101arm moveit2 servo control by using pymoveit2 submodule. Signed-off-by: XiaoqiangWu <wuxiaoqiang.rtos@huawei.com> | 6 个月前 | |
feat(so101): add native ros2_control C++ plugin and calibration service Add a native ros2_control hardware interface plugin for SO101 robotic arm, replacing the topic-based motor_bridge.py implementation. This provides better performance and direct integration with ros2_control ecosystem. Main changes: - Add so101_hardware_cpp package with C++ hardware interface plugin - Implements hardware_interface::SystemInterface for direct motor control - Supports Feetech SMS_STS servo motors via serial communication - Includes configurable reset_positions to prevent arm jumping on startup - Motor torque properly disabled on deactivation for safe shutdown - Add FTServo_Linux SDK as git submodule - Source: git@github.com:ftservo/FTServo_Linux.git - Provides serial communication interface for Feetech servos - Add dual-mode launch file (so101_hw_dual_mode.launch.py) - Supports both topic-based (motor_bridge.py) and C++ plugin modes - Conditional launching based on use_cpp_plugin parameter - Configurable port and reset_positions parameters - Add calibration_service.py - ROS2 service wrapper for arm calibration - Trigger interface for convenient calibration invocation - Update so101_ros2_control.xacro - Add use_cpp_plugin, port, and reset_positions xacro arguments - Conditional hardware plugin selection (C++ vs topic-based) - Add motor ID parameters for each joint (required by C++ plugin) - Default port changed to /dev/ttyACM0 - Update .gitignore to exclude Claude Code config files - Update README.md (Chinese) and add README.en.md (English) - Document FTServo_Linux as git submodule - Add submodule initialization instructions - Complete usage and troubleshooting documentation Benefits: - Direct ros2_control integration eliminates topic-based bridge overhead - Configurable reset positions prevent unsafe arm movements on startup - Proper torque disable on shutdown for safer operation - Maintains backward compatibility with topic-based mode See so101_hardware_cpp/README.md for detailed usage instructions. Signed-off-by: XiaoqiangWu <wuxiaoqiang.rtos@huawei.com> | 5 个月前 | |
feat(so101): add native ros2_control C++ plugin and calibration service Add a native ros2_control hardware interface plugin for SO101 robotic arm, replacing the topic-based motor_bridge.py implementation. This provides better performance and direct integration with ros2_control ecosystem. Main changes: - Add so101_hardware_cpp package with C++ hardware interface plugin - Implements hardware_interface::SystemInterface for direct motor control - Supports Feetech SMS_STS servo motors via serial communication - Includes configurable reset_positions to prevent arm jumping on startup - Motor torque properly disabled on deactivation for safe shutdown - Add FTServo_Linux SDK as git submodule - Source: git@github.com:ftservo/FTServo_Linux.git - Provides serial communication interface for Feetech servos - Add dual-mode launch file (so101_hw_dual_mode.launch.py) - Supports both topic-based (motor_bridge.py) and C++ plugin modes - Conditional launching based on use_cpp_plugin parameter - Configurable port and reset_positions parameters - Add calibration_service.py - ROS2 service wrapper for arm calibration - Trigger interface for convenient calibration invocation - Update so101_ros2_control.xacro - Add use_cpp_plugin, port, and reset_positions xacro arguments - Conditional hardware plugin selection (C++ vs topic-based) - Add motor ID parameters for each joint (required by C++ plugin) - Default port changed to /dev/ttyACM0 - Update .gitignore to exclude Claude Code config files - Update README.md (Chinese) and add README.en.md (English) - Document FTServo_Linux as git submodule - Add submodule initialization instructions - Complete usage and troubleshooting documentation Benefits: - Direct ros2_control integration eliminates topic-based bridge overhead - Configurable reset positions prevent unsafe arm movements on startup - Proper torque disable on shutdown for safer operation - Maintains backward compatibility with topic-based mode See so101_hardware_cpp/README.md for detailed usage instructions. Signed-off-by: XiaoqiangWu <wuxiaoqiang.rtos@huawei.com> | 5 个月前 | |
Feat: Add SO101 leader arm control follower arm package README This commit introduces So101 leader arm to control floower arm and update README. Signed-off-by: XiaoqiangWu <wuxiaoqiang.rtos@huawei.com> | 6 个月前 | |
Feat: Configure MoveIt 2 setup for LeRobot SO101 arm This commit introduces so101arm moveit2 servo control by using pymoveit2 submodule. Signed-off-by: XiaoqiangWu <wuxiaoqiang.rtos@huawei.com> | 6 个月前 | |
Feat: Add ros1_bridge submodule This commit introduces ros1_bridge pkg as a submodule from https://github.com/smith-doug/ros1_bridge/tree/action_bridge_humble for additional action mapping support. Because the original ros1_bridge doesn't support action type bridge. Signed-off-by: XiaoqiangWu <wuxiaoqiang.rtos@huawei.com> | 6 个月前 | |
deps: add topic_based_ros2_control as submodule Include topic_based_ros2_control as a git submodule. This package is required for the project but is not currently available in the standard openEuler source repositories, so strict source compilation is needed. Signed-off-by: Xiaoqiang Wu <wuxiaoqiang.rtos@huawei.com> | 6 个月前 |
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