Arm teleop control#13
Open
allenabraham106 wants to merge 18 commits into
Open
Conversation
This file contains hidden or bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
Sign up for free
to join this conversation on GitHub.
Already have an account?
Sign in to comment
2 participants
Add this suggestion to a batch that can be applied as a single commit.This suggestion is invalid because no changes were made to the code.Suggestions cannot be applied while the pull request is closed.Suggestions cannot be applied while viewing a subset of changes.Only one suggestion per line can be applied in a batch.Add this suggestion to a batch that can be applied as a single commit.Applying suggestions on deleted lines is not supported.You must change the existing code in this line in order to create a valid suggestion.Outdated suggestions cannot be applied.This suggestion has been applied or marked resolved.Suggestions cannot be applied from pending reviews.Suggestions cannot be applied on multi-line comments.Suggestions cannot be applied while the pull request is queued to merge.Suggestion cannot be applied right now. Please check back later.
Add arm teleop submodule and bringup package.
Controller mapping:
Left stick X/Y → base and shoulder
Right stick X/Y → elbow and forearm
D-pad → wrist pitch and roll
L2/R2 → gripper close/open
Cross → enable/disable,
Circle → e-stop,
Options → re-arm,
L1 → speed toggle
TODOs before merge:
Verify ODrive topic names on rover hardware (ros2 topic list)
Wire gripper to actual ODrive topic
Verify PS4 axis indices with jstest on Linux machine