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commit fc3bc12 Author: Anthony Brogni <anthonybrog@gmail.com> Date: Tue May 6 14:06:05 2025 -0500 (Merge this!) Drivetrain Safety Feature (#402) * drivetrain safety feature * it works! --------- Co-authored-by: umnrobotics <robotics@umn.edu> commit 2310108 Author: Isopod00 <anthonybrog@gmail.com> Date: Mon May 5 22:55:25 2025 -0500 Update the default values of ROS params commit c39292e Author: Anthony Brogni <anthonybrog@gmail.com> Date: Mon May 5 21:03:06 2025 -0500 Nav2 Autonomy Testing Outside (#398) * nav2 config file improvements * testing changes * Renamed all "zed2i/zed_node/" to "zed2i/zed_node_zed2i/" * last fix * Squashed commit of the following: commit 7dcebf1 Merge: 3ce4a23 a8b3910 Author: Anthony Brogni <anthonybrog@gmail.com> Date: Sun May 4 16:22:16 2025 -0500 Merge remote-tracking branch 'origin/zed-topics-renaming-fix' into calibrate-field-coordinates-testing commit 3ce4a23 Merge: 0364d6b 083fbe5 Author: Isopod00 <anthonybrog@gmail.com> Date: Sun May 4 15:42:54 2025 -0500 Merge branch 'main' into calibrate-field-coordinates-testing commit 0364d6b Merge: e4221d1 4869895 Author: Anthony Brogni <anthonybrog@gmail.com> Date: Sun May 4 11:32:24 2025 -0500 Merge branch 'main' into calibrate-field-coordinates-testing commit e4221d1 Merge: 598e23d a8c3822 Author: Anthony Brogni <anthonybrog@gmail.com> Date: Sun May 4 10:53:23 2025 -0500 Merge branch 'main' into calibrate-field-coordinates-testing commit 598e23d Author: Isopod00 <anthonybrog@gmail.com> Date: Sat May 3 14:52:22 2025 -0500 added an async_sleep commit 0526ca9 Author: Isopod00 <anthonybrog@gmail.com> Date: Sat May 3 10:41:20 2025 -0500 small calibrate field coordinates accuracy improvements * mount the apriltags lower in simulation * remove unused import * Added RotationShimController and switched from mppi controller to simpler dwb controller * small changes * auto formatting * Added a use_nav2 arg and nav2_launch file for testing * testing changes * reverted some changes we dont want to merge yet * last revert --------- Co-authored-by: umnrobotics <robotics@umn.edu> commit 2673e23 Author: Anthony Brogni <anthonybrog@gmail.com> Date: Sun May 4 22:53:31 2025 -0500 ZED Topics Renaming Fix (Fixes Apriltags) (#400) * Renamed all "zed2i/zed_node/" to "zed2i/zed_node_zed2i/" * last fix
commit d56eb3f Author: Anthony Brogni <anthonybrog@gmail.com> Date: Thu May 8 22:29:46 2025 -0500 Auto Dig Nav Offload + Cameras (#408) * auto dig improvement * improvements * working caemra compression * initial try, will need to be tested * small changes * added to everything launch * added to launch file and whatnot * Added a client for the new action server to the main control node * it works * removed duplicate * nav2 and zed config changes * Tuned backward_distance * disable some everything launch features * testing changes * decrease global costmap size * auto format * auto format --------- Co-authored-by: Alex Berg <56053786+BergerKing333@users.noreply.github.com> Co-authored-by: umnrobotics <robotics@umn.edu> Co-authored-by: alex berg <ber00221@umn.edu> commit 224c79c Author: Anthony Brogni <anthonybrog@gmail.com> Date: Tue May 6 23:03:56 2025 -0500 gazebo driving fix
- Implemented `providedPorts()` in `auto_dig.hpp` and `auto_offload.hpp` to correctly expose input keys to the Behavior Tree Blackboard. - Updated `onResultReceived()` in all custom Action Nodes to evaluate the `WrappedResult` code. Nodes now return `FAILURE` if the ROS 2 action is aborted or canceled, rather than blindly returning `SUCCESS`. - Updated `setGoal()` to properly fetch inputs using the registered ports and populate the ROS Action Goal. - parameter names NEED TO BE ALIGNED in (e.g., `digger_chain_power`)] `.action` files.
* gazebo driving fix * Auto Dig Nav Offload + Cameras (#408) * auto dig improvement * improvements * working caemra compression * initial try, will need to be tested * small changes * added to everything launch * added to launch file and whatnot * Added a client for the new action server to the main control node * it works * removed duplicate * nav2 and zed config changes * Tuned backward_distance * disable some everything launch features * testing changes * decrease global costmap size * auto format * auto format --------- Co-authored-by: Alex Berg <56053786+BergerKing333@users.noreply.github.com> Co-authored-by: umnrobotics <robotics@umn.edu> Co-authored-by: alex berg <ber00221@umn.edu> * Agitator Code + Better Auto Digging (#407) * removed limit switch code because we don't have them * wrote code for the agitator * Added missing import * works * auto format * remove cli_motor_toggle from auto_offload_server * added back "msg/Potentiometers.msg" * auto dig + offload works ! --------- Co-authored-by: umnrobotics <robotics@umn.edu> * Deleted TODO comment * small auto dig nav offload changes * Smarter digging (#411) * uh maybe? * works inside * changes from yesterday * small camera_launch changes * auto format --------- Co-authored-by: Peter M <pwmarshall@gmail.com> Co-authored-by: umnrobotics <robotics@umn.edu> * Fix tasks.json for vscode to work with README.md instructions (#419) Co-authored-by: Team Laptop 1 <robotics@umn.edu> * AlexBlox is OP (#406) * initial * Outside Testing + Auto Changes (#393) * digger safety feature * more changes * more changes * make digger power positive * lower speed * testing changes * removed the option to reverse the digger * tiny changes * remove log statement * remove unecessary return * Added the digger current safety check * made current_threshold and time_limit into ROS parameters * improvements using an optional type * outside testing * works now! * auto dig works! * only works while moving down * we dont need this anymore * switch to the faster up speed for the zero_lift service * auto offload works! * auto dig works * auto format * Remove lift_digging_end_position * delete todo comment * commented out logging statement --------- Co-authored-by: umnrobotics <robotics@umn.edu> * (Test This!) Digging buckets current spike detection (#395) * digger safety feature * more changes * more changes * make digger power positive * lower speed * testing changes * removed the option to reverse the digger * tiny changes * remove log statement * remove unecessary return * Added the digger current safety check * made current_threshold and time_limit into ROS parameters * improvements using an optional type * outside testing * works now! * auto dig works! * only works while moving down * we dont need this anymore * switch to the faster up speed for the zero_lift service * auto offload works! * auto dig works * auto format * Remove lift_digging_end_position * delete todo comment * commented out logging statement * digging buckets current spike detection * testing changes --------- Co-authored-by: umnrobotics <robotics@umn.edu> * fast lift movement in both directions (#399) * fast lift movement in both directions * auto format * fix spelling mistake "zed2ii" to "zed2i" * ZED Topics Renaming Fix (Fixes Apriltags) (#400) * Renamed all "zed2i/zed_node/" to "zed2i/zed_node_zed2i/" * last fix * Nav2 Autonomy Testing Outside (#398) * nav2 config file improvements * testing changes * Renamed all "zed2i/zed_node/" to "zed2i/zed_node_zed2i/" * last fix * Squashed commit of the following: commit 7dcebf1 Merge: 3ce4a23 a8b3910 Author: Anthony Brogni <anthonybrog@gmail.com> Date: Sun May 4 16:22:16 2025 -0500 Merge remote-tracking branch 'origin/zed-topics-renaming-fix' into calibrate-field-coordinates-testing commit 3ce4a23 Merge: 0364d6b 083fbe5 Author: Isopod00 <anthonybrog@gmail.com> Date: Sun May 4 15:42:54 2025 -0500 Merge branch 'main' into calibrate-field-coordinates-testing commit 0364d6b Merge: e4221d1 4869895 Author: Anthony Brogni <anthonybrog@gmail.com> Date: Sun May 4 11:32:24 2025 -0500 Merge branch 'main' into calibrate-field-coordinates-testing commit e4221d1 Merge: 598e23d a8c3822 Author: Anthony Brogni <anthonybrog@gmail.com> Date: Sun May 4 10:53:23 2025 -0500 Merge branch 'main' into calibrate-field-coordinates-testing commit 598e23d Author: Isopod00 <anthonybrog@gmail.com> Date: Sat May 3 14:52:22 2025 -0500 added an async_sleep commit 0526ca9 Author: Isopod00 <anthonybrog@gmail.com> Date: Sat May 3 10:41:20 2025 -0500 small calibrate field coordinates accuracy improvements * mount the apriltags lower in simulation * remove unused import * Added RotationShimController and switched from mppi controller to simpler dwb controller * small changes * auto formatting * Added a use_nav2 arg and nav2_launch file for testing * testing changes * reverted some changes we dont want to merge yet * last revert --------- Co-authored-by: umnrobotics <robotics@umn.edu> * tuning, rviz fix * tweaking * weird merge change fix * im writing code at 2 am * changes * test * changes * fix submod ref * final attempt * Mess of last few days * pushed less-logging for can_bridge * peter changes that work * cameras work * Don't fail the whole action if backup fails * laptop changes * cleanup changes * nav2 config changes * small change * camera change * zed point cloud * pointcloud reading changes * initial commit * i love claude * cleanup part 1 * fixing formatting part 2 * linters are stupid * more linter changes * im gonna delete the linter if this fails --------- Co-authored-by: Anthony Brogni <anthonybrog@gmail.com> Co-authored-by: umnrobotics <robotics@umn.edu> Co-authored-by: UMN Robotics <139645809+umnrobotics@users.noreply.github.com> * Add Stream Deck capability (#422) * Added stream deck node * Add working stream deck node * Callback deosnt like that * Add topic for stream deck buttons and wait until its connected * Add stream deck subscription to main control node * Add stream deck node to laptop launch * dockerfile updates * double name and always close * working * dockerfile change * linter go away * lint?? --------- Co-authored-by: umnrobotics <robotics@umn.edu> Co-authored-by: alex berg <ber00221@umn.edu> * delete digger functionality in motor control node (#424) * delete unnecessary old functionality * more updates to motor_control * final updates --------- Co-authored-by: Victor Tipkemper <tipke001@umn.edu> Co-authored-by: hdjwis <adarshyraju@gmail.com> * Main control cleanup (#425) * Added stream deck node * Add working stream deck node * Callback deosnt like that * Add topic for stream deck buttons and wait until its connected * Add stream deck subscription to main control node * Add stream deck node to laptop launch * dockerfile updates * double name and always close * working * dockerfile change * linter go away * lint?? * stream deck pictures and stuf * streamdeck in main control node * linter * i dont know what the linter wants from me * the linter gonna die --------- Co-authored-by: root <wispysparks@gmail.com> Co-authored-by: umnrobotics <robotics@umn.edu> Co-authored-by: hdjwis <92123937+hdjwis@users.noreply.github.com> * potential fix for devcontainer * Updated dumper (auger) (#428) * "Updated dumper conditions for new design based limit switches" * Created Sub/Pub for Limit Switches and check if both actuators were retracted for dumping" * Added Conditionals to Extend Dumper and changed constant values * updated struct.unpack * updated limit switch msg type * Change limit switch types from int to bool * Reset pulled_state in drop_dumper * linter fixes * linter fixes * updated auto offload * Changed to position control in pull and drop dumper function. Removed top kill switch and replaced it with degree conditional in while loop instead * commented auger checks from dumper node, for now * Changed names in autoOffLoad to match dumper_node server nodes * Final updates for dumper * renamed dumper services to dump and store * inlcuded Bool std_msg --------- Co-authored-by: Team Laptop 1 <robotics@umn.edu> Co-authored-by: zheng271 <brendonzheng57@gmail.com> Co-authored-by: alex berg <ber00221@umn.edu> * Auger node (#435) * created auger_node file * Implement basic functionality of auger_node, rough structure. * Minimal changes * introduce set methods, stop method * naming clarifications and adjust to new todo description. * minor changes * basically just added potentiometer subscriber * Basic services made for auger node, no failsafes for controlling motors * move actuator at a constant velocity * Arduino auger (#426) * Theoretical Auger Sub/Pub stuff * updated potentiometers for auger --------- Co-authored-by: Zheng271 <brendonzheng57@gmail.com> * Added some basic motor configurable motor id constants * Added configurable class variables for auger along with fixing some motor set calls * Added in limits to the push actuator's position and speed. Got rid of the digger node and tried to replace all instances on launch with the auger node instead. * Work in progress code * Fixed some simple mistakes that caused code to crash * added todos * Made methods fail if their MotorCommandSet and MotorCommandGet requests failed. Added in better checking for tilt actuator set method and made it block until finished. Also made set_motor_push_position block until setpoint is reached. * Added extend digger callback and retract digger callback. Also made set_motor_push_position take in both a speed and desired position * renaming some variables for auto dig * gave the auger services more sensible names * finished auto dig server * Fixed dumb auger set srv mistake * fixed sensor.ino changes * Fixed some logic in set_actuator_tilt_extension and set_motor_push_position * updated read_serial * ran `autopep8 --in-place --aggressive -r --in-place --aggressive src/auger/ src/rovr_control/` * Fixed formatting * fixed auto_dig linter problem * reformatted with ruff * fixed the doc strings * updated auto_dig to include drive backs * Fixed some mistakes. Added check that confirms screw is spinning before running push motor. Added a stop all service. * updated main control node to use auger * added auger stop to main_control_node and multiple screw speeds to auto_dig * formatted * linter fixes * updated controls to fix retract/extend issue * fixed linter * final updates * Dig nav offload (#438) * updated to use navigation backup wiht nav2. * updated action to have x and y as inputs * fixed linter * linter fixes --------- Co-authored-by: alex berg <ber00221@umn.edu> --------- Co-authored-by: akshatarinav <akshatarinav@gmail.com> Co-authored-by: Victor Tipkemper <tipke001@umn.edu> Co-authored-by: Sagar <sagartsant@gmail.com> Co-authored-by: hdjwis <92123937+hdjwis@users.noreply.github.com> Co-authored-by: Zheng271 <brendonzheng57@gmail.com> Co-authored-by: Michael Foley <114529526+Michael-Foley@users.noreply.github.com> Co-authored-by: hdjwis <adarshyraju@gmail.com> Co-authored-by: umnrobotics <robotics@umn.edu> * Remove unused imports in main_control_node.py Removed unused imports to clean up the code. * Add dig_location_server node to launch file --------- Co-authored-by: Anthony Brogni <anthonybrog@gmail.com> Co-authored-by: Alex Berg <56053786+BergerKing333@users.noreply.github.com> Co-authored-by: umnrobotics <robotics@umn.edu> Co-authored-by: alex berg <ber00221@umn.edu> Co-authored-by: Peter M <pwmarshall@gmail.com> Co-authored-by: CubeToPlay <86120028+CubeToPlay@users.noreply.github.com> Co-authored-by: UMN Robotics <139645809+umnrobotics@users.noreply.github.com> Co-authored-by: Wispy <101812473+WispySparks@users.noreply.github.com> Co-authored-by: Victor Tipkemper <113133273+victortipkemper@users.noreply.github.com> Co-authored-by: Victor Tipkemper <tipke001@umn.edu> Co-authored-by: root <wispysparks@gmail.com> Co-authored-by: zheng271 <brendonzheng57@gmail.com> Co-authored-by: akshatarinav <akshatarinav@gmail.com> Co-authored-by: Sagar <sagartsant@gmail.com> Co-authored-by: Michael Foley <114529526+Michael-Foley@users.noreply.github.com>
…file which is supplied by dig location server i assume
…and y coords from behavior tree first. If invalid (set as 0,0 for now) it will go with normal logic like usual
…ded input target x and y coords for go to dig location
… in behavior tree called return to coordinate
…havior-tree-jonathan
…les + integrated it into button press instead of auto dig nav offload. Also updated behavior tree executor and launch files
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