23-gello-calibration #32

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solid-sinusoid merged 6 commits from 23-gello-calibration into main 2025-09-11 01:09:45 +03:00

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solid-sinusoid commented 2025-09-11 01:09:32 +03:00

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solid-sinusoid added 6 commits 2025-09-11 01:09:32 +03:00

feat: add basic gello calibration service 6de7283738

fix: driver angle reading and add vfc deactivation e455756819

feat(gello_provider,vfc): persist calibration to parameters_file; add sign calibration ... 0bd32ba57e

- Add parameters_file node parameter to VirtualFrameController and expose via launch.
- Persist GELLO best_offsets to the provided parameters_file; fallback to ~/.ros/gello_offsets.yaml.
- Add gello/calibrate_signs service to infer joint_signs from observed motion and recompute offsets.
- Use yaml-cpp to update nested YAML in-place; add dependency and link in CMake.
- Install default config at gello_provider/config/gello_offsets.yaml.
- Improve error handling and user-facing messages.

fix(gello_provider): align joint_signs to int64_t and drop extra conversion ... 74fc796ce2

- Add #include <cstdint>
- Change signs/new_signs to std::vector<int64_t>
- Serialize YAML joint_signs as 64-bit integers
- Pass new_signs directly to rclcpp parameters
- Resolves type mismatch and potential build error in calibration flow

feat(rbs_rviz_plugins,gello_provider): RViz panel attach/detach + robust joint signs with runtime sync and safe persistence 64cea632cf

feat(teleop,rviz): background joint-state publisher; leader/follower robots ... 4dabe4051b

- gello_provider: add background thread to publish /gello/joint_states at ~50 Hz when controller is inactive; safely start/stop via atomic flag and destructor join
- gello_provider: process incoming signs_cmd while inactive; update interface and publish signs state
- rviz_plugins: split single robot into leader and follower with separate FK and pose maps; update both and queue render
- rviz_plugins: color leader robot links orange; switch to <Ogre.h> and include robot_link
- ui: rename “Accept” button to “Calibrate”

solid-sinusoid merged commit 4dabe4051b into main 2025-09-11 01:09:45 +03:00

solid-sinusoid deleted branch 23-gello-calibration 2025-09-11 01:09:46 +03:00

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robossembler/rbs-teleop!32

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