Skip to content
New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

Jump to bottom

[Delta][WIP] latest version for real platform #609

Open
wants to merge 542 commits into
base: master
Choose a base branch
from
Open

[Delta][WIP] latest version for real platform #609

wants to merge 542 commits into from

Conversation

sugikazu75
Copy link
Member

@sugikazu75 sugikazu75 closed this Nov 29, 2024
@sugikazu75
[delta] workaround to calculate real contact point based on cog state
eaa8574
@sugikazu75
[delta][urdf] fix rotor direction according to real machine
38617ec
@sugikazu75
[delta][OptimalDesign] fix rotor direction according to real machine,…
32e0aa4 
… mf_rate and constraint about boundary
@sugikazu75
[delta][model] consider counter torque in full wrench allocation matrix
b481362
@sugikazu75
[delta][urdf] modify mesh extension for mujoco model generation
c0bd04e
@sugikazu75
[delta][OptimalDesign] refactor to get rotor origin from robot model …
4728458 
…and enable to set parameters by rosparam
@sugikazu75
[delta] update transformation demo script
3679b7c
@sugikazu75
[delta][control] workaround to get rotor tile from urdf
f3f52d4
@sugikazu75
[delta] update battery config accourding to dragon
971135a
@sugikazu75
[delta] add new type 20240207_new_frame
a6f7f03
@sugikazu75
[delta][OptimalDesign] enable to set robot type as parameter
524992f
@sugikazu75
[delta] update urdf
ccab940
@sugikazu75
[delta] update mesh
11f5075
@sugikazu75
[delta] remove deplecated robot type
0814eae
@sugikazu75
[delta] update motor info: gemfan 9inch 3wing
7dc0c13
@sugikazu75
[delta] update default type in launch
d208af4
@sugikazu75
[delta][control] do not transition to standing state when osqp solve …
68b140a 
…failed
@sugikazu75
[delta] update aerial transformation demo script
bd60bbd
@sugikazu75
[delta] add joy stick key bind to rotate around yaw while rolling mod…
27d62ff 
…e. add script that print instruction for delta
@sugikazu75
[delta][control] publish gravity compensation term for debug
7bc4051
@sugikazu75
[delta][control] separate control params for standing and rolling
e73659c
@sugikazu75
[delta] add rostest for delta hovering
151472e
@sugikazu75
[WIP][hydrus] add reset pose in ros test. The reason test will be pas…
cf7927e 
…sed is not obvious...
@sugikazu75
[WIP][hydrus] add threshold of aerial transformation test for hydrus
11848e4
@sugikazu75
[delta] update rostest to check aerial transformation
26aea36
@sugikazu75
[WIP][delta] send pi/2 as current target baselink roll in standing mo…
4fe5a76 
…de and automatically switch to rolling mode with threshold
@sugikazu75
[delta] successed standing experiment
138671d
@sugikazu75
[delta][control] changed print rate of nlopt failure
8d25409
@sugikazu75
[delta][control] removed gimbal neutral coordinate and changed frame …
046f6f5 
…used for gimbal jacobian
@sugikazu75
[delta][control] refactor nlopt log publish process
684c4e7
@sugikazu75
[delta][control] workaround implement dynamic reconfigure server for …
8ea4e4f 
…optimization weights
@sugikazu75
[delta] debug for CI
4d644c5
@sugikazu75
[delta] refactor urdf: separate fc and link2. link number can be changed
14ea6ff
@sugikazu75
[delta][urdf] update urdf for egomotion estimation with livoxMID360
93d242e
@sugikazu75
[delta][estimation] use livoxMID360 for egomotion estimation
5a44408
@sugikazu75
[delta] update rviz config
6b1cc04
@sugikazu75
[delta][estimation] add parameters to set height valid range for vo
3f42940
@sugikazu75
[delta][urdf] update urdf because position of processors is changed
8d996fc
@sugikazu75
[delta] add a shell script to record rosbag except for /cloud_registe…
f2d396d 
…red*
@sugikazu75
[delta][urdf] remove unused variable baselink
c0ec687
@sugikazu75
[delta][control] refactor controller
6afa37f
@sugikazu75
[delta][control] use analytical contact force for joint torque calcul…
bac8a33 
…ation in nonlinear optimization
@sugikazu75
[delta][control] enable to add constraint about joint torque in aeria…
6baa1cd 
…l mode
@sugikazu75
[delta][control] get gimbal angle limit
8b5d11c
@sugikazu75
[delta][control] condider joint angle limitation when resolving gimba…
ae6552a 
…l ofset
@sugikazu75
[delta][control] send current gimbal angles when halt
a0da852
@sugikazu75
[delta] display rosout to rviz
8e64291
@sugikazu75
[delta][model] fix exception message
2b4fd24
@sugikazu75
[delta][navigation] enable to set target baselink attitude as current…
645b3ae 
… state from other class
@sugikazu75
[delta][control] set target baselink attitude as current state when o…
787739d 
…sqp solve is failed
@sugikazu75
[delta][control] update baselink attitude as current state only when …
8b32013 
…rolling state
@sugikazu75
[delta][joy] set joint angles to become circular form when L1 and R1 …
7e50c67 
…are pressed
@sugikazu75
[delta][control] improve iniital variable calculation with osqp: cons…
f70a526 
…ider joint torque as constraints
@sugikazu75
[delta][control] enable to set ground attitude control threshold as r…
4d1e28b 
…osparam and change via reconfigure
@sugikazu75
[control] enable to set joint torque limit to nonlinear optimization
75e5d2f
@sugikazu75
[delta][control] clamp iniital variable by bounds
7c3eff5
Sign up for free to join this conversation on GitHub. Already have an account? Sign in to comment
Reviewers
No reviews
Assignees
No one assigned
Labels
None yet
Projects
None yet
Milestone
No milestone
Development

Successfully merging this pull request may close these issues.
1 participant
@sugikazu75