Arm integration

.devcontainer/base-station/devcontainer.json

@@ -8,6 +8,7 @@
     "--privileged",
     "--volume=/dev/v4l/by-id:/dev/v4l/by-id",
     "--volume=/dev/serial/by-id:/dev/serial/by-id",
+    "--volume=/dev/input/by-id:/dev/input/by-id",
     "--volume=/sys:/sys",
     "--volume=/etc/timezone:/etc/timezone",
     "--volume=/tmp/argus_socket:/tmp/argus_socket",

rosdep-keys.txt

@@ -78,6 +78,7 @@ joint_trajectory_controller
 diff_drive_controller
 joint_state_publisher_gui
 libjsoncpp
+controller_manager_msgs
 flex
 bison
 libncurses-dev

src/Arm/arm_control/config/arm_config.yaml

@@ -8,9 +8,7 @@
 use_gazebo: false
 
 ## Properties of outgoing commands
-publish_period: 0.08  # 1/Nominal publish rate [seconds] supposed to be 0.08
-publish_delay: 0.005 #supposed to be 0.005
-max_expected_latency: 0.1  # delay between sending a command and the robot executing it [seconds]
+publish_period: 0.08  # 1/Nominal publish rate [seconds]
 low_latency_mode: false
 
 command_in_type: "unitless"  # "unitless"> in the range [-1:1], as if from joystick. "speed_units"> cmds are in m/s and rad/s
@@ -23,15 +21,13 @@ scale:
 
 # What type of topic does your robot driver expect?
 # Currently supported are std_msgs/Float64MultiArray or trajectory_msgs/JointTrajectory
-command_out_type: trajectory_msgs/JointTrajectory
+command_out_type: std_msgs/Float64MultiArray
 
 # What to publish? Can save some bandwidth as most robots only require positions or velocities
 publish_joint_positions: true
 publish_joint_velocities: false
 publish_joint_accelerations: false
 
-#low_pass_filter_coeff: 2.0
-
 ## Plugins for smoothing outgoing commands
 smoothing_filter_plugin_name: "online_signal_smoothing::ButterworthFilterPlugin"
 
@@ -70,10 +66,10 @@ cartesian_command_in_topic: ~/delta_twist_cmds  # Topic for incoming Cartesian t
 joint_command_in_topic: ~/delta_joint_cmds  # Topic for incoming joint angle commands
 joint_topic: /joint_states  # Get joint states from this tpoic
 status_topic: ~/status  # Publish status to this topic
-command_out_topic: /arm_controller/joint_trajectory  # Publish outgoing commands here
+command_out_topic: /arm_controller_servo/commands  # Publish outgoing commands here
 
 ## Collision checking for the entire robot body
-check_collisions: true  # Check collisions?
+check_collisions: false  # Check collisions?
 collision_check_rate: 10.0  # [Hz] Collision-checking can easily bog down a CPU if done too often.
 self_collision_proximity_threshold: 0.01  # Start decelerating when a self-collision is this far [m]
 scene_collision_proximity_threshold: 0.02  # Start decelerating when a scene collision is this far [m]