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personalrobotics / ada_ros2

ROS2 Hardware Interface and Description for the ADA Robot
BSD 3-Clause "New" or "Revised" License
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Implement Web App Teleop & Arm Configuration Customization #45

Closed amalnanavati closed 7 months ago

amalnanavati commented 7 months ago

Description

This PR, coupled with feeding_web_interface#133 and ada_feeding#175, implements a web-app teleop interface for the robot, along with the ability to customize the "Above Plate" configuration using the web app.

Specifically, this PR makes the following changes:

  1. Add a servo republisher that receives servo messages from the web app, updates the timestamp (in case the web app device is out-of-sync with the robot time), and modifies the frames of end effector twists.
  2. Removes the pick_ik dependency, as now we are using our fork of pick_ik.
  3. Formatting

Testing procedure

Tests are described in feeding_web_interface#133.