Integration of Articutool Description and MoveIt Configuration#60

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jjaime2 wants to merge 62 commits intomainfrom

jjaime2/articutool-integration

Commits on Mar 26, 2025

Commits on Mar 27, 2025

Commits on Mar 28, 2025

Add Articutool URDF/SRDF to existing ADA URDF/SRDF
jjaime2
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Commits on Mar 29, 2025

Add IMU joint state publisher
jjaime2
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Commits on Mar 30, 2025

Add ada namespace into moveit.rviz and moveit_controllers.yaml. Perform required remapping to namespaced topics
jjaime2
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Commits on Apr 5, 2025

Remove unused joint_map parameter
jjaime2
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Commits on Apr 8, 2025

Commits on Apr 10, 2025

Set Articutool to not use dummy mimic joints. This will allow the IK solver to use the passive joints from the Articutool, but we will try to use joint constraints during planning instead to preven…
jjaime2
committed

Commits on Apr 13, 2025

Add a node to publish a unified joint state from ADA and the Articutool. If either has no up to date data, we use the previous valid joint state message.
jjaime2
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Commits on Apr 17, 2025

Add Articutool planning group again
jjaime2
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Commits on Apr 22, 2025

Add SimulatedOrientationPublisherNode which publishes the orientation of a desired link relative to some base frame. We use this to simulated an ideal orientation estimate from the IMU on the Artic…
jjaime2
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Commits on Apr 29, 2025

Add IK solver and planner for Articutool
jjaime2
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Commits on May 1, 2025

Commits on May 8, 2025

Add CHOMP planner and set to default for now so we can test
jjaime2
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Commits on May 11, 2025

Reformatting
jjaime2
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Commits on May 19, 2025

Remove simulated orientation node
jjaime2
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Commits on May 28, 2025

Add configurations for end_effector_tool argument
jjaime2
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Commits on May 30, 2025

Reduce frequency of unified joint state publishing
jjaime2
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Commits on Jun 1, 2025

Update F/T topics
jjaime2
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Commits on Jun 4, 2025

Commits on Jun 24, 2025

Disable collisions for new Xacro
jjaime2
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Commits on Jul 15, 2025

Remove dependency on CHOMP planner
jjaime2
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Commits on Jul 17, 2025

Remove CHOMP dependency from CMakeLists.txt
jjaime2
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Commits on Jul 23, 2025

Commits on Aug 28, 2025

Increase timeout and attempts for all planning groups
jjaime2
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Commits on Sep 10, 2025

Update frame for tele-op
jjaime2
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Commits on Sep 13, 2025

Remove collisions for screw heads with arm
jjaime2
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Commits on Sep 15, 2025

Add lock_joints parameter
jjaime2
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Commits on Sep 18, 2025

Conditionally restrict Articutool joint states from being published by the unified joint state publisher if they are locked
jjaime2
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Commits on Oct 17, 2025

Increase Articutool roll joint limit on ADA-side
jjaime2
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Commits on Nov 3, 2025

Adjust RRTstar range and goal_bias. This change seems to dramatically increase the performance of the Articutool's planning success rate with lower planning times
jjaime2
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Commits on Nov 4, 2025

Tune 8-DOF planning group's IK solve, and reduce the Articutool's roll joint limits back down to +/- pi
jjaime2
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Commits on Nov 10, 2025

Increase longest_valid_segment_fraction for RRT*
jjaime2
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Commits on Dec 22, 2025

Run pre-commit
jjaime2
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