Description
The control panel send joints position to ros2_control.
Ros2_control should, looking to the xacro config, bbe abble to translate these joints positions to accurate angles and send them to micro-ros nodes.
Delivery
Find a way to make ros2_control translate accurately the joints positions to actual angle, so the virtual twin in rviz and the real robot move the same way (as twins).
Document the changes required in the xacro (in thais-urdf documentation) for end-users to be able to do this tuning on their own, each change to do in each config file should be documented)
Technical context
lucy_ros_package and thais_urdf documentation
Try the deployed control panel on the jetson using rviz on the side to notice the difference and the problem:
https://github.com/Sentience-Robotics/thais_urdf/blob/aes/evol-dae/README.md#rviz-in-a-second-terminal-bringup-already-running
Description
The control panel send joints position to ros2_control.
Ros2_control should, looking to the xacro config, bbe abble to translate these joints positions to accurate angles and send them to micro-ros nodes.
Delivery
Find a way to make ros2_control translate accurately the joints positions to actual angle, so the virtual twin in rviz and the real robot move the same way (as twins).
Document the changes required in the xacro (in thais-urdf documentation) for end-users to be able to do this tuning on their own, each change to do in each config file should be documented)
Technical context
lucy_ros_packageandthais_urdfdocumentationTry the deployed control panel on the jetson using rviz on the side to notice the difference and the problem:
https://github.com/Sentience-Robotics/thais_urdf/blob/aes/evol-dae/README.md#rviz-in-a-second-terminal-bringup-already-running