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[Beetle][WIP] latest version for real platform #611

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[Beetle][WIP] latest version for real platform #611

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sugihara-16
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What is this

This is the latest branch of Beetle

Details

Usage

Please refer https://docs.google.com/document/d/1TcQ84vdbAeMcD_RsDh18Ymy9PME57LIppw9DtuW7D74/edit?usp=sharing .

@sugihara-16
[Beetle] create the new scritpt for multi robot joy control
f9b0513
@sugihara-16
[Beetle] add some test codes
3414797
@sugihara-16
Merge remote-tracking branch 'sugihara/develop/Beetle_test' into deve…
61aead4 
…lop/Beetle_test
@sugihara-16
[Beetle] modified vel nav thresh
9e1c3ba
@sugihara-16
[Spinal][AttitudeControl] add nan value checker for gimbal angles
5b31162
@sugihara-16
[Spinal][Controller] modified the condition for updating torque alloc…
dc39f77 
…ation matrix.
@sugihara-16
[Beetle] modified beetle nav to support yaw navigation in assembled s…
c4a1353 
…tate
@sugihara-16
[Beetle][Navigation] workaround to support roll pitch rotation when a…
fec08f7 
…ssembly state
@sugihara-16
[Navigation] making joystick callback fuction virtual
dfc29bd
@sugihara-16
[Gimbalrotor][Navigation] add accessors about baselink rotation
cf91a1b
@sugihara-16
[Beetle][Navigation] add joy command to control roll pitch angles
e4c6157
@sugihara-16
[Beetle][Navigation] modified param about roll pitch rotation and alt…
430b32d 
…itude
@sugihara-16
Merge branch 'master' into develop/gimbal_rotor_rebase
8ebd33f
@sugihara-16
[Gimbalrotor] modified include file paths to support new system confi…
5d98dae 
…guration.
@sugihara-16
[Gimbalrotor] add 'rm' and 'sim' args in bringup
74975f8
@sugihara-16
[Beetle] create a new script for the disassembly motion
856fcc5
@sugihara-16
[Beetle] create a new script to send command to kondo servo
ffc32a6
@sugihara-16
[Beetle] create a new scritp for the assembly flag publication
f46514f
@sugihara-16
add a new auto installation of packages about docking mech
b289d6e
@sugihara-16
[Beetle][Nav] modified discription about target pos candidate.
46dcf17
@sugihara-16
[Beetle][nav] fix a wrong indent
80129b5
@sugihara-16
[Beetle] made disassembly demo python module
4c7b8db
@sugihara-16
[Beetle][Navigation] workaround disassembly motion
7a0a497
@sugihara-16
[Beetle] modified default robot id
cb293a8
@sugihara-16
Merge remote-tracking branch 'sugihara/develop/Beetle_test' into deve…
84111cf 
…lop/Beetle_test
@sugihara-16
[Beetle] fix bug aroung navigation
46fcba1
@sugihara-16
[Beetle] make assembly demo python module
092437a
@sugihara-16
[Beetle][Assemble] workaround assemble demo script
d197a2e
@sugihara-16
[Beetle][Disassemble] modified some detail in disassemble demo to imp…
a6bf1a0 
…rove realmachine motion
@sugihara-16
[Beetle] modified assembled nav script
d7dad3b
sugihara-16 and others added 28 commits December 15, 2023 20:38
@sugihara-16
[Gimablrotor] modified condition around gain sending.
fa7cbfc
@sugihara-16
[Beetle][Controller] debug around the method to determine proper gain…
e37002c 
… for wrench compensation.
@sugihara-16
[Beetle] debug around assembly motion script
e1f59ca
@sugihara-16
[Beetle] debug around switch cmd
a2a7442
@sugihara-16
[Beetle] modified gains for wrench comp
3c2cc92
@sugihara-16
[Beetle][Model] add accessor to leader id.
806192b
@sugihara-16
[Beetle][controller] add feedfoward internal wrench term.
52227d7
@sugihara-16
[Beetle][urdf] add battery model
fcf5451
@sugihara-16
[Beetle][urdf] modified inertia info of base link.
0f40b20
@sugihara-16
[Navigation] add indicator of remaining battery.
8c563ee
@sugihara-16
[Beetle] add navi callback for assembled state
f1258f1
@sugihara-16
[Beetle][test] create script for lemniscate trajectory tracking.
5f719d8
@sugihara-16
[Beetle][launch] workaround change spawn positions
4c60d57
@sugihara-16
[Beetle] modified some parameter for real machine
212ed10
@sugihara-16
Merge remote-tracking branch 'sugihara/develop/Beetle' into develop/B…
d1e36f9 
…eetle
@sugihara-16
[Beetle] add new topic that can change rotation of all modules
863bd32
@sugihara-16
[Beetle] modified some detail of rotational nav by joystick
3d509f1
@sugihara-16
Merge remote-tracking branch 'sugihara/develop/Beetle' into develop/B…
ea5e7da 
…eetle
@sugihara-16
[Beelte][simulation] modified wrench comp i gain in simulation
14155d2
@sugihara-16
[Beetle] modified servo angle when the mechanism is opened
f9b377a
@sugihara-16
[Beetle][Reconfig] modifeid some parameters of reconfig motion
d3952d7
@sugihara-16
[Beetle][recofig] modified reconfig demo script in order to support t…
3911bbb 
…hree modules
@sugihara-16
[Beetle] change some detail of switch script
4729474
@sugihara-16
[Beetle][simu] add new launch where eight modules spawn
f57d225
@sugihara-16
[Beetle][test] add servo test script
a12aff5
@sugihara-16
Merge branch 'master' into develop/Beetle
ce8b8ea
@sugihara-16
[Beetle] workaround catching up to latest master
4bea290
@sugihara-16
[Beetle][Nav] fixed bug in landing motion
35b2a2c
@tongtybj
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tongtybj commented Oct 7, 2024

@sugihara-16

Could you add some instruction about simulation (e.g., bringup) in https://docs.google.com/document/d/1TcQ84vdbAeMcD_RsDh18Ymy9PME57LIppw9DtuW7D74/edit?usp=sharing ?
Ma kun wants to try beelte in gazebo.

@sugihara-16
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@tongtybj @mazhaoqi-52
Hi, I have addressed your request by adding bringup usages for some cases.
Please check and feel free to ask me any questions!

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3 participants
@sugihara-16 @tongtybj @sugikazu75