Implement Set-Based TPIK and perform initial cleanup #17
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evan-palmer
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Sep 15, 2023
* started aruco marker detection * Started implementing visual odometry interface * dont die on me now momo * Implemented support to estimate pose of largest tag in frame * entered transformation matrix hell * added tf listener and buffer * Finished initial untested version of marker detector * started integrating param config file * Integrated angler_bringup package to launch full system * Ran precommit and deleted pep257 tests * Updated devcontainer to support humble and rolling * Removed debug log * Added static marker tf broadcaster example * un-ignored bringup package in docker build * Resolved pr comments * Added skeleton package for planning interface * Added additional repos file * Started high level planner implementation * Implemented initial version of pre-planned mission planner * precommit * resolved pr comments * Removed file associations for action and msg files * Refactored library and added tests * Resolved final pr comments * Refactored GStreamer interface into distinct node (#6) * Refactored to support future localization sources and handlers * Resolved PR comments * Integrate support for localization using the Qualisys motion capture system (#8) * Added qualisys motion capture support * Added mocap node to launch file * Added missing configuration to bringup config * Modified launch description to support running the mocap or camera regardless of whether or not it is used as a source * Port angler_localization to blue project (#11) * Ported angler_localization * Cleaned up dockerfile * Moved to rolling devcontainer * Implement Gazebo + ArduSub SITL for UVMS (#15) * Ported angler_localization * Cleaned up dockerfile * Moved to rolling devcontainer * Implemented initial versions of mux and demux * Started to integrate blue and alpha launch files * Continued integrating blue and alpha into system * Converted bluerov2 sdf to urdf and split up gazebo configs * Set up initial manipulator mount link * Continued integrating uvms model * Started to cleanup dockerfile to fix gz launch bugs * [wip] resolved ros2_control launch issues - currently breaking down into smaller files * Resolved launch issues * More fixes and added gripper inertial properties * kinda fixed initial position issue * fixed bouyancy for bluerov2 * Resolved docker environment errors * Resolved precommit errors * Fixed precommit * Resolved PR comments * Implement Set-Based TPIK and perform initial cleanup (#17) * started jacobian implementation * Implemented jacobians for primary tasks * finished (untested) initial version of jacobian implementation * Saving DH param stuff before I delete in case of revert * One more dh save * Finished initial untested jacobians and started constraint implementation * go crazy * Finished jacobian unit tests * Cleaned up jacobian implementation in favor of tasks * Went back on task object idea * started controller * Save point before I go back to task classes... again * Improved task interface * Implemented base tpik * Implemented hierarchy and modes * Finished initial implementation of set based tpik * Wrote hierarchy unit tests and started debugging * Fixed set tasks * Fixed axis d bug, resolved solution selection bug, and added nvidia driver support * Added nominal configuration task * Fixed devcontainer and most of end effector tracking * Debugging uvms position jacobian * WHY WONT THE POSITION JACOBIAN WORK FOR THE LOVE OF GOD * i believe in a world free from the curse of singularities * wip: started cleanup * wip: removed angler msgs * wip: fixed waypoint planner * wip: redid the description package and launch file * More bug fixes from cleanup * Finished initial cleanup and tpik implementation * Cleaned up readme * Readme changes * More readme stuff * Fixed precommit and added iron to ci * Implement behavior tree (#22) * Started development of a cleaned up dockerfile * Continued docker setup * Finished up updated dockerfile * here we go again * Removed armv7 * Added requirement for vtk * Replaced kinpy installation with fork * Added updated docker compose script * Moved tf to blue * Started integration of a bezier curve planner * Split kinematics into separate package * Started arming behaviors * Removed drake stuff and finished arming behaviors * Created base controller * Started implementing trajectory controller * wip: continued joint trajectory controller implementation * Finished initial version of trajectory interface * Rebuild image to include blue changes * Finished joint trajectory controller * wip: finished initial version of behavior tree * removed branch from pipeline * Started debugging tree * Fixed data gathering behaviors * Finished debugging behavior tree * Finished initial version of behavior tree * Added gripper and cleanup behaviors * started trajectory replanner * Cleaned up params * cleaned up behavior tree * Resolved pr comments as much as i feel like resolving them * Fixed bug in frame names * updated issue templates
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Checklist
Changes Made
This PR is much larger than it should be, but I don't have any desire to break it down into smaller PRs. The main contributions include:
Associated Issues
Testing
Way to much testing was done with the framework in simulation.