Robotic-Decision-Making-Lab / angler

ROS 2 framework for lightweight autonomous underwater vehicle manipulator systems

https://robotic-decision-making-lab.github.io/angler/

MIT License

18 stars 3 forks source link

Implement Set-Based TPIK and perform initial cleanup #17

Closed evan-palmer closed 1 year ago

evan-palmer commented 1 year ago

Checklist

[x] I have performed a thorough review of my code
[x] I have sufficiently commented my code
[x] The implementation follows the project style conventions
[x] All project unit tests are passing
[x] If relevant, documentation has been provided or updated to discuss the changes made
[x] System integration tests were performed successfully

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:

Development of the Set-Based TPIK algorithm for whole-body kinematic control
Significantly cleaned up the description package to re-use the existing models provided in Blue and Alpha.
Cleaned up the launch file
Updated the dev container to support NVIDIA driver usage
General cleanup and refactoring of the planning and mux packages.

Associated Issues

Fixes #16
Fixes #14
Fixes #12

Testing

Way to much testing was done with the framework in simulation.