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IshanDutta11
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Mar 11, 2026
IshanDutta11
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- Adds a 3DOF joint by joint controller
- Adds the ability to switch between 2DOF and 3DOF using the use_3dof launch argument
- Allows the user to deactivate the physical talon hardware without interfering with ros2 logic (uses mock hardware for talon joints specifically) using the deactivate_talon launch argument
IshanDutta11
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HGardiner1,
dwarakeshbaraneetharan and
mdurrani808
and removed request for
HGardiner1 and
dwarakeshbaraneetharan
…lacement for just those joints
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… the individuality and interchangeability of each subsection. This commit has a separate joint by joint controller for arm (composed of base_yaw, shoulder_pitch, and elbow_pitch), 3 wrist controllers (joint by joint for 3dof, 2dof, and an orientation controller for 3DOF), and gripper claw. If we ever decide to add more joints to arm, use a different kind of wrist control scheme, or have a different kind of end effector entirely, the components as well as the code can now be swapped in and out for it.
mdurrani808
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Mar 17, 2026
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Didn't seem to break when I launched it but didn't do any testing past that.
| if (!std::isnan((*current_ref)->axes[0])) | ||
| { | ||
| // Wrist Pitch: U/D on Left Joystick AND O button | ||
| joint_velocities_[0] = -(*current_ref)->axes[1] * static_cast<float>((*current_ref)->buttons[1]) * max_velocities_[0]; |
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are these axes something we want to be configurable? i imagine we would.
| { | ||
| if (*(control_mode_.readFromRT()) == control_mode_type::SLOW) | ||
| { | ||
| joint_velocities_[i] /= 2; |
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make slow a configurable multiplier rather than hardcoded via parameters
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See note on other HWI
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See note on other HWI
…d, so it now functions with this arm setup (will require considerations of drive and always active controllers in yaml file). Also made a 2dof and 3dof trajectory controller config.
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