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Controls Stack

Setup

Download dependencies with the following code.

sudo apt install ros-humble-smach-ros
sudo apt install ros-humble-tf-transformations
pip3 install transforms3d
pip3 install dependency-injector
pip3 install simple_pid

Pool Testing

  1. Build and source.
colcon build --symlink-install
source install/setup.bash
  1. Modify /tasks/movement_test.py as needed to configure state machine and associated movement tasks.
  2. Launch cameras, sensors, etc.
  3. Launch base nodes needed for initialising controls stack. NOTE: To reset IMU drift, relaunch base.launch.py.
ros2 launch launch_files base.launch.py
  1. Launch movement test.
ros2 launch launch_files movement.launch.py

Simulation

  1. Build and source.
colcon build --symlink-install
source install/setup.bash
  1. Modify /simulation/movement_test_sim.py as needed to configure state machine and associated movement tasks.
  2. Launch simulation.
ros2 launch launch_files simulation.launch.py

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