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o3de / ROSConDemo

A robotic fruit picking demo project for O3DE with ROS 2 Gem
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Articulations kraken #261

Closed Antoni-Robotec closed 6 months ago

Antoni-Robotec commented 9 months ago

The kraken is switched to using articulation links instead of classic joints. For now it's possible to drive and use the manipulator manually.

For the demo scenario to work, https://github.com/o3de/o3de-extras/issues/551 needs to be fixed. Also, the kraken Effector collision with the Rest entity does not trigger, leading to the kraken not realising it's manipulator has retrieved and waiting for the timeout. I did not have the time to figure out why that is. Probably something simple.

Other than that, the shiny kraken prefab needs to be updated (everything needs to be the same as it is in the rusty one), and the rusty kraken prefab should be cleaned up of components that are no longer needed (eg. PID motor controllers).

Requires https://github.com/o3de/o3de-extras/pull/542.

Antoni-Robotec commented 9 months ago

For it to work, https://github.com/o3de/o3de-extras/issues/551 needs to be fixed. Also, the kraken effector collision with the Rest does not trigger, leading to the kraken not realising it's manipulator has retrieved and waiting for the timeout.

Other than that, the shiny kraken prefab needs to be updated, and the rusty kraken prefab should be cleaned up of components that are no longer needed (eg. PID motor controllers).

jhanca-robotecai commented 6 months ago

Changes from https://github.com/o3de/o3de-extras/issues/551 were not integrated, this PR is outdated. Closing without removing the source branch. Please reopen if necessary.