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Parameterize ada_moveit with end_effector_tool #54

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Parameterize ada_moveit with end_effector_tool #54

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@jjaime2 jjaime2 commented Dec 15, 2024

Description

This pull request modifies launch files to adapt to the specified end_effector_tool. This will allow users to specify tools from none, fork, and articulable_fork. For developers using ADA before the articulable fork hardware is transitioned in, set the tool to fork.

Testing procedure

  • Run ros2 launch ada_moveit demo.launch.py sim:=mock end_effector_tool:=<tool> for each <tool> in none, fork, articulable_fork
  • Verify that

Before opening a pull request

  • pre-commit run --all-files
  • Run your code through pylint. pylint --recursive=y --rcfile=.pylintrc .. All warnings but fixme must be addressed.

Before Merging

  • Squash & Merge

jjaime2 added 30 commits November 7, 2024 12:12
@jjaime2
Update forque_assembly_joint macro to allow fixed, revolute, and cont…
d0544a6 
…inuous joints
@jjaime2
Add Articulable Fork XACRO and STL
7847a68
@jjaime2
Add hardware interface for Dynamixels
78bf8d1
@jjaime2
Rename AFMotor2_to_AFMotorFixture1 to AFMotor2_to_AFMotor1
f72a2f8
@jjaime2
Merge branch 'jjaime2/articulable_fork_description' into jjaime2/dyna…
65a3f6b 
…mixel_hw_interface
@jjaime2
Remove lingering comments
04c11b2
@jjaime2
Add WIP unit test for Dynamixel hardware interface
1987de5
@jjaime2
Rename hardware interface Dynamixel to DynamixelHardware to match imp…
9b17991 
…lementation
@jjaime2
Format forque.xacro using xmllint
c102e12
@jjaime2
Rename Articulable Fork links and joints
9d435d9
@jjaime2
Merge branch 'jjaime2/articulable_fork_description' into jjaime2/dyna…
6a7a651 
…mixel_hw_interface
@jjaime2
Rename port to usb_port
f25ed9d
@jjaime2
Add default configuration for Articulable Fork joints
0c81299
@jjaime2
Fix merge
ff042fa
@jjaime2
Fix parameter definitions for usb_port and baud_rate, rename joints
97fc98a
@jjaime2
Adjust line spacing
51b0fd7
@jjaime2
Fix mis-named joint to af_joint_2
68087b0
@jjaime2
Add ros2_control block for Articulable Fork, and initial positions
2d8ac13
@jjaime2
Add Articulable Fork info to SRDF
2f9129a
@jjaime2
Add Articulable Fork mock controllers
e6d962e
@jjaime2
Add af_ros2_control and fix readonly param
8e0769a
@jjaime2
Fix indentation
7e876aa
@jjaime2
Fix namespace conflict by renaming ada_hardware::DynamixelHardware to…
3bb0bc9 
… dynamixel_hardware::DynamixelHardware
@jjaime2
Rename ada_hardware::DynamixelHardware to dynamixel_hardware::Dynamix…
c0072fc 
…elHardware
@jjaime2
Merge branch 'jjaime2/dynamixel_hw_interface' into jjaime2/articulabl…
e7fa968 
…e_fork_moveit
@jjaime2
Fix mis-named namespace
440b1d2
@jjaime2
Merge branch 'jjaime2/dynamixel_hw_interface' into jjaime2/articulabl…
1ab1440 
…e_fork_moveit
@jjaime2
Add PickIK kinematics solver for articulable_fork group
301926f
@jjaime2
Add OMPL planner for Articulable Fork
7907726
@jjaime2
Add af_velocity_controller and af_joint_trajectory_controller, add hy…
678d95d 
…brid control mode
jjaime2 added 30 commits December 8, 2024 18:26
@jjaime2
Fix typo in jaco_arm_servo_controller
80c710f
@jjaime2
Remove articulable_fork.launch.py
477a47d
@jjaime2
Revert "Format forque.xacro using xmllint"
1d20fda 
This reverts commit c102e12.
@jjaime2
Add end_effector_tool configuration, remove use_forque configuration
6efbe95
@jjaime2
Conditionally modify fork URDF based on end_effector_tool
1ac9d62
@jjaime2
Collapse XACRO elements
f463f1f
@jjaime2
More formatting
b0a0e67
@jjaime2
Rename forkTine_to_forque to af_forque_joint
1ef30d9
@jjaime2
Merge branch 'jjaime2/articulable_fork_description' into jjaime2/dyna…
652aad9 
…mixel_hw_interface
@jjaime2
Formatting
cc90416
@jjaime2
Add end_effector_tool configuration for ada_hardware.launch.py
2c3f00c
@jjaime2
Merge branch 'jjaime2/dynamixel_hw_interface' into jjaime2/articulabl…
45be0b4 
…e_fork_moveit
@jjaime2
Cleanup
4d3b048
@jjaime2
Add configuration for end_effector_tool
062356b
@jjaime2
Decouple ADAs description into a macro that is explicitly instantiate…
5e961d8 
…d in ada_standalone.xacro
@jjaime2
Merge branch 'jjaime2/articulable_fork_description' into jjaime2/arti…
3ba9ae2 
…culable_fork_moveit
@jjaime2
Use updated ada macro
ed730e0
@jjaime2
Merge branch 'jjaime2/articulable_fork_description' into jjaime2/dyna…
01c6fbe 
…mixel_hw_interface
@jjaime2
Use updated ada macro
c7a815f
@jjaime2
Update launch files to enable end_effector_tool parameterization
b6821e2
@jjaime2
Rename jaco_af move group to ada
0fae939
@jjaime2
Merge branch 'main' into jjaime2/articulable_fork_description
e2b14e8
@jjaime2
Run pre-commit
9c4ac8c
@jjaime2
Remove actuator, transmission, and gazebo configurations
0967dad
@jjaime2
Merge branch 'jjaime2/articulable_fork_description' into jjaime2/dyna…
765ff3f 
…mixel_hw_interface
@jjaime2
Run pre-commit
a25f7aa
@jjaime2
Fix typo in dynamixel_hardware.hpp
aed616d
@jjaime2
Merge branch 'jjaime2/dynamixel_hw_interface' into jjaime2/articulabl…
e0e18c9 
…e_fork_moveit
@jjaime2
Disable collision between af_link_base and forkHandle
69d0976
@jjaime2
Run pre-commit
ef1592b
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@jjaime2