Adamc/sub camera temp #82
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…'camera_control' that sends string messages
…oggle and added better documentation, fixed formatting
* First commit, added some C++ support * First commit, testing * Added robot_interface.h file * Started working on adding function prototypes to robot_interface.h * update header for robot interface * Created robot_interface.cpp file * add antenna methods * Started converting robot_interface to Python * Added constructor/destructor * Trying to experiment with publisher * Trying to create testing node for publishing testing * Random testing node testing * Got some testing publishers to publish using smaller node. Not sure if it's working correctly * Added some more testing publisher stuff for all 6 wheels. Removed forward/backward wheel functionality, only single wheel function (positive/negative) * Changed conversion from using diameter to using circumference * change viator launch and cooresponding package xml * First commit, added some C++ support * First commit, testing * Added robot_interface.h file * Started working on adding function prototypes to robot_interface.h * update header for robot interface * Created robot_interface.cpp file * add antenna methods * Started converting robot_interface to Python * Added constructor/destructor * Trying to experiment with publisher * Trying to create testing node for publishing testing * Random testing node testing * Got some testing publishers to publish using smaller node. Not sure if it's working correctly * Added some more testing publisher stuff for all 6 wheels. Removed forward/backward wheel functionality, only single wheel function (positive/negative) * Changed conversion from using diameter to using circumference * change viator launch and cooresponding package xml * added all methods to robot interface * Added arm publishers and renamed other publishers * Followed publisher naming standard * update robot interface * Fix RobotInterface import in testing node * change message values to float 32 * Initial testing works. Tested three methods. Multiple motors move * Changed const variables, changed math and gear ratios * Can2.0 works * Added some comments * Added some comments * Added setupCAN.sh * Position code works with a single motor. Idk why the magic number is 33 for 2pi --------- Co-authored-by: matthewperrywa <matthew.c.perry@outlook.com> Co-authored-by: mendomic <mendomic@uw.edu> Co-authored-by: Vladimir Kupryukhin <vladimirkupryukhin@gmail.com> Co-authored-by: agrach <agrach@uw.edu> Co-authored-by: VladimirKupryukhin <vlad@vlad-laptop>
* Add RobotInfo * Add ability to convert callback data * [robot_info] add dummy nodes for testing * [robot_info] fix topic name being grabbed incorrectly * Edits for robot info * Add RobotInfo * Add ability to convert callback data * [robot_info] add dummy nodes for testing * [robot_info] fix topic name being grabbed incorrectly * Edits for robot info --------- Co-authored-by: TrickFire Robotics <trickfirerobotics@gmail.com>
* First commit, added some C++ support * First commit, testing * Added robot_interface.h file * Started working on adding function prototypes to robot_interface.h * update header for robot interface * Created robot_interface.cpp file * add antenna methods * Started converting robot_interface to Python * Added constructor/destructor * Trying to experiment with publisher * Initial drivebase, update docker & settings * Trying to create testing node for publishing testing * Random testing node testing * Got some testing publishers to publish using smaller node. Not sure if it's working correctly * instances robot interface * Added some more testing publisher stuff for all 6 wheels. Removed forward/backward wheel functionality, only single wheel function (positive/negative) * Changed conversion from using diameter to using circumference * importing interface works * change viator launch and cooresponding package xml * First commit, added some C++ support * First commit, testing * Added robot_interface.h file * Started working on adding function prototypes to robot_interface.h * update header for robot interface * Created robot_interface.cpp file * add antenna methods * Started converting robot_interface to Python * Added constructor/destructor * Trying to experiment with publisher * Trying to create testing node for publishing testing * Random testing node testing * Got some testing publishers to publish using smaller node. Not sure if it's working correctly * Added some more testing publisher stuff for all 6 wheels. Removed forward/backward wheel functionality, only single wheel function (positive/negative) * Changed conversion from using diameter to using circumference * change viator launch and cooresponding package xml * update topic/method names * added all methods to robot interface * copy interface to drivebase * fix variable bug * Minor fixes * Add speed const & package description * Convert functions to camelCase * add drivebase to viator launch * basic turn left and right * Getting started * Code overview * Add image * Added simple moteus docs * First moteus docs draft * Clean up moteus docs * Rename moteus_can.md to can_moteus.md * Spelling * Edit getting started documents * Fix gettingstarted link * Added Git section to getting started * Added suggestions from #17 * Add doc for CAN ID values (#19) Added table of what CAN ID values we use for different subsystems. * Update getting_started.md "ROS2" * Create installing_on_mac.md * Update installing_on_mac.md * Update installing_on_mac.md fix numbering * Robot Interface Merge (#24) * First commit, added some C++ support * First commit, testing * Added robot_interface.h file * Started working on adding function prototypes to robot_interface.h * update header for robot interface * Created robot_interface.cpp file * add antenna methods * Started converting robot_interface to Python * Added constructor/destructor * Trying to experiment with publisher * Trying to create testing node for publishing testing * Random testing node testing * Got some testing publishers to publish using smaller node. Not sure if it's working correctly * Added some more testing publisher stuff for all 6 wheels. Removed forward/backward wheel functionality, only single wheel function (positive/negative) * Changed conversion from using diameter to using circumference * change viator launch and cooresponding package xml * First commit, added some C++ support * First commit, testing * Added robot_interface.h file * Started working on adding function prototypes to robot_interface.h * update header for robot interface * Created robot_interface.cpp file * add antenna methods * Started converting robot_interface to Python * Added constructor/destructor * Trying to experiment with publisher * Trying to create testing node for publishing testing * Random testing node testing * Got some testing publishers to publish using smaller node. Not sure if it's working correctly * Added some more testing publisher stuff for all 6 wheels. Removed forward/backward wheel functionality, only single wheel function (positive/negative) * Changed conversion from using diameter to using circumference * change viator launch and cooresponding package xml * added all methods to robot interface * Added arm publishers and renamed other publishers * Followed publisher naming standard * update robot interface * Fix RobotInterface import in testing node * change message values to float 32 * Initial testing works. Tested three methods. Multiple motors move * Changed const variables, changed math and gear ratios * Can2.0 works * Added some comments * Added some comments * Added setupCAN.sh * Position code works with a single motor. Idk why the magic number is 33 for 2pi --------- Co-authored-by: matthewperrywa <matthew.c.perry@outlook.com> Co-authored-by: mendomic <mendomic@uw.edu> Co-authored-by: Vladimir Kupryukhin <vladimirkupryukhin@gmail.com> Co-authored-by: agrach <agrach@uw.edu> Co-authored-by: VladimirKupryukhin <vlad@vlad-laptop> * First commit, testing * Created robot_interface.cpp file * change viator launch and cooresponding package xml * Remove stuff to match main * Properly import robot interface * Delete unneeded stuff * Revert "Delete unneeded stuff" This reverts commit c6ac076. * Fix message type * Fix stuff * Fix func names and variables * Fix motor * Idk what 70-fdcanusb.rules is * Fix type errors from messages * Both sides of the drivebase spin * Initial drivebase, update docker & settings * instances robot interface * First commit, added some C++ support * First commit, testing * Added robot_interface.h file * Started working on adding function prototypes to robot_interface.h * update header for robot interface * Created robot_interface.cpp file * add antenna methods * Started converting robot_interface to Python * Added constructor/destructor * Trying to experiment with publisher * Trying to create testing node for publishing testing * Random testing node testing * Got some testing publishers to publish using smaller node. Not sure if it's working correctly * Added some more testing publisher stuff for all 6 wheels. Removed forward/backward wheel functionality, only single wheel function (positive/negative) * importing interface works * update topic/method names * First commit, added some C++ support * First commit, testing * Added robot_interface.h file * Started working on adding function prototypes to robot_interface.h * update header for robot interface * Created robot_interface.cpp file * add antenna methods * Started converting robot_interface to Python * Added constructor/destructor * Trying to experiment with publisher * Trying to create testing node for publishing testing * Random testing node testing * Got some testing publishers to publish using smaller node. Not sure if it's working correctly * Added some more testing publisher stuff for all 6 wheels. Removed forward/backward wheel functionality, only single wheel function (positive/negative) * Changed conversion from using diameter to using circumference * change viator launch and cooresponding package xml * change viator launch and cooresponding package xml * added all methods to robot interface * copy interface to drivebase * fix variable bug * Minor fixes * Add speed const & package description * Convert functions to camelCase * add drivebase to viator launch * basic turn left and right * Getting started * Code overview * Added simple moteus docs * First moteus docs draft * Clean up moteus docs * Rename moteus_can.md to can_moteus.md * Spelling * Edit getting started documents * Fix gettingstarted link * Added Git section to getting started * Added suggestions from #17 * Add doc for CAN ID values (#19) Added table of what CAN ID values we use for different subsystems. * Update getting_started.md "ROS2" * Create installing_on_mac.md * Update installing_on_mac.md * Update installing_on_mac.md fix numbering * Robot Interface Merge (#24) * First commit, added some C++ support * First commit, testing * Added robot_interface.h file * Started working on adding function prototypes to robot_interface.h * update header for robot interface * Created robot_interface.cpp file * add antenna methods * Started converting robot_interface to Python * Added constructor/destructor * Trying to experiment with publisher * Trying to create testing node for publishing testing * Random testing node testing * Got some testing publishers to publish using smaller node. Not sure if it's working correctly * Added some more testing publisher stuff for all 6 wheels. Removed forward/backward wheel functionality, only single wheel function (positive/negative) * Changed conversion from using diameter to using circumference * change viator launch and cooresponding package xml * First commit, added some C++ support * First commit, testing * Added robot_interface.h file * Started working on adding function prototypes to robot_interface.h * update header for robot interface * Created robot_interface.cpp file * add antenna methods * Started converting robot_interface to Python * Added constructor/destructor * Trying to experiment with publisher * Trying to create testing node for publishing testing * Random testing node testing * Got some testing publishers to publish using smaller node. Not sure if it's working correctly * Added some more testing publisher stuff for all 6 wheels. Removed forward/backward wheel functionality, only single wheel function (positive/negative) * Changed conversion from using diameter to using circumference * change viator launch and cooresponding package xml * added all methods to robot interface * Added arm publishers and renamed other publishers * Followed publisher naming standard * update robot interface * Fix RobotInterface import in testing node * change message values to float 32 * Initial testing works. Tested three methods. Multiple motors move * Changed const variables, changed math and gear ratios * Can2.0 works * Added some comments * Added some comments * Added setupCAN.sh * Position code works with a single motor. Idk why the magic number is 33 for 2pi --------- Co-authored-by: matthewperrywa <matthew.c.perry@outlook.com> Co-authored-by: mendomic <mendomic@uw.edu> Co-authored-by: Vladimir Kupryukhin <vladimirkupryukhin@gmail.com> Co-authored-by: agrach <agrach@uw.edu> Co-authored-by: VladimirKupryukhin <vlad@vlad-laptop> * First commit, testing * Created robot_interface.cpp file * Remove stuff to match main * Properly import robot interface * Delete unneeded stuff * Revert "Delete unneeded stuff" This reverts commit c6ac076. * Fix message type * Fix type errors from messages * Both sides of the drivebase spin * made the drivebase work * Removed the print statements that flood the console * launch_only_docker.sh runs launch.sh automatically * launch_only_docker.sh opens in project folder, doesn't run launch.sh * Remove unneeded python linting setting * Change version to 0.0.0 * Update description --------- Co-authored-by: Daniel K <daniel.kantor2009@gmail.com> Co-authored-by: matthewperrywa <matthew.c.perry@outlook.com> Co-authored-by: Vladimir Kupryukhin <vladimirkupryukhin@gmail.com> Co-authored-by: Ezekiel Mitchell <135088287+ezekielmitchell@users.noreply.github.com> Co-authored-by: mendomic <mendomic@uw.edu> Co-authored-by: agrach <agrach@uw.edu> Co-authored-by: VladimirKupryukhin <vlad@vlad-laptop> Co-authored-by: TrickFire Robotics <trickfirerobotics@gmail.com>
* Basic node works * Ready to test code * Add launch file modifications * Trying to connect to moteus works * Wheel spins via the robot interface using json * Motors stop after termination * Updated interface to support drivebase * Remove old files. Add shutting motor down when error found * Removed repeated code * Tested stuff * Works * testing canbus disconnection * Canbus disconnection works * Relaunching now works without unplugging.replugging canusb * Added some comments * Motor reconnect works * Proper handling of faults * Handle exception when shutting down. Checks for invalid ros context * Updated RobotInfo * Removed unneeded stuff from the json helpers * Added comments and a few constants * Docs draft 1 * Updated error messages to be more detailed * Some more can_moteus.md docs * Finish documentation * can_modeus.md minor grammar changes --------- Co-authored-by: TrickFire Robotics <trickfirerobotics@gmail.com> Co-authored-by: Carl Klay <klaymorer@protonmail.com>
* Basic node setup * Need to test publisher code * Send data to mission control * READING POWER WORKS WOOO * Make moteus send telemetry even when set_stop() --------- Co-authored-by: TrickFire Robotics <trickfirerobotics@gmail.com>
…controller (#55) * Basic arm package works. Handle canusb not being plugged in * Basic service works * Change roverROS armstate from mission control * Added unveiling-arm topics for the motors. Need to implement the robotinterface * Updated interface for arm. Untested * Prevent individual control vel from sending when it is disabled * Remove some bad code due to me copy/pasting * Tested. Working * Last commit before merge --------- Co-authored-by: TrickFire Robotics <trickfirerobotics@gmail.com>
these tests are nigh impossible to integrate with and customize, plus it would be a pain to integrate pylint support. plus these tests don't run on lib files
there's a long laundry list of changes (let's hope i don't forget anything):
- added pylint, isort, black, and mypy
- pylint does most of the linting work
- isort is specifically for import sorting, and some whitespace issues
- black runs autoformatting on save
- I don't particularly like autoformatters but I know for a fact that people will not heed the warnings for linters so ive included it as an
extreme measure.
- mypy is for type checking
- linting has several things people should pay attention to
- max line length is 100
- doc strings for all functions, classes, and modules is required
- imports now must be in specific orders
- isort will automatically sort imports for you
- function parameters must be type hinted
- function return types must be specified too
- some class attributes must also be type hinted
- function names will be camelCase
- attributes, variables, and file names must be snake_case
- whitespace will be automatically managed by the auto formatter
- other than consistent formatting, this will give type hinting and intellisense to almost every variable
* [lib] add lib folder and refactor constants into configs, removing motor names only relying on can id * [lib] refactor robot interface and info to take motor configs and new msg types * [lib] make coloring slightly less annoying * [lib] differentiate between disable and stop motor * [lib] set position to `nan` when stopping motor * add typing to moteus command results * [lib] debug in person to make it work * [lib] make robot info take motor configs over can ids * [lib] fix formatting * fix units on robot interface and document some motor state attributes * [lib] Changed drivebase speed to match radian/s inputs rather than rev/s --------- Co-authored-by: TrickFire Robotics <trickfirerobotics@gmail.com>
* [lib] add lib folder and refactor constants into configs, removing motor names only relying on can id * [lib] refactor robot interface and info to take motor configs and new msg types * [lib] make coloring slightly less annoying * [lib] differentiate between disable and stop motor * [lib] set position to `nan` when stopping motor * add typing to moteus command results * [lib] debug in person to make it work * [lib] make robot info take motor configs over can ids * [lib] fix formatting * fix units on robot interface and document some motor state attributes * [lib] implement config setting * [lib] add configs * [lib] remove conf default and fix bugs for config * [lib] skip can id config value --------- Co-authored-by: Kyler Li <loukylor@gmail.com> Co-authored-by: TrickFire Robotics <trickfirerobotics@gmail.com>
* [example/docs] Remade coder_overview.md * [example/docs] Added basic example node that has hello world in it * Added example node with timer, pub, sub * Spelling fixes for docs * Removed example_node from the node launch array * [example/docs] Small .md formatting changes and sentence restructure * [example/lib] Update main README.md * Formatted the example.py * [example/docs] add building and testing docs --------- Co-authored-by: loukylor <loukylor@gmail.com>
* heartbeat: finished heartbeat code [untested] * heartbeat: remove unnecessary file * heartbeat: change initialization wait time from 3s to 10s * heartbeat: tested [on 10/1]
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This NEEDS to be squashed |
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