GELLO actuation for ros2 franka support#66
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…ition of other motors
using Dynamixel internal current-based position mode
Merge in ROBL/gello_software from feat/actuation-publisher to feat/actuation * commit '9ed96850b45b820d928dab07339d7ff16cd38752': add: configurable virtual springs and dampers using Dynamixel internal current-based position mode
…lses Merge in ROBL/gello_software from feat/actuation-goal-position-radians to feat/actuation * commit 'cb5fc74661f0a2325b5fa8c82aeb1070db138841': chg: configure goal position in rad instead pulses
- Split into hardware and config modules - Add graceful shutdown with signal handling - Fix dual-arm parameter isolation
Merge in ROBL/gello_software from chg/refactor-franka-gello-state-publisher to feat/actuation * commit '5302a697cf0a2def851cf1ff4b2d38ba0c492ca2': chg: refactor franka_gello_state_publisher into modular components
…orrect joint data being send from the robot
…cy (in case of jerky follower behavior) Merge in ROBL/gello_software from feat/usb-latency-troubleshooting to feat/actuation * commit 'b1b656426b8667cb942c4748b5d655c7be8279f6': ADD: Instructions to improve USB latency
…side effect of incorrect joint data being send from the robot Merge in ROBL/gello_software from fix/incorrect_joint_states_before_first_command to feat/actuation * commit 'd58470887e48e8820516441e785a5af28c5972e2': fix: franka ros2 unittests make tests work no longer block during on_activate() which had the side effect of incorrect joint data being send from the robot
…driver in gello/dynamixel
…ka_ros2 to get updated more frequently
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* refactored the driver and extended its interface to other motor functions * extracted motor specific values to config file in order to enable addition of other motors * add: configurable virtual springs and dampers using Dynamixel internal current-based position mode * chg: configure goal position in rad instead pulses * chg: refactor franka_gello_state_publisher into modular components - Split into hardware and config modules - Add graceful shutdown with signal handling - Fix dual-arm parameter isolation * FIX: wording * ADD: Instructions to improve USB latency * no longer block during on_activate() which had the side effect of incorrect joint data being send from the robot * make tests work * fix: franka ros2 unittests * CHG: move adapted driver to franka_gello_state_publisher and restore driver in gello/dynamixel * FIX: minor improvements * FIX: formatting of driver * CHG: adapted order of docker layers, because we expect libfranka/franka_ros2 to get updated more frequently * CHG: remove main fuction from driver * FIX: typo in comment * FIX: move PyYAML dependency --------- Co-authored-by: Peter Wern <peter.wern@franka.de> Co-authored-by: Christian Czapka <christian.czapka@franka.de> Co-authored-by: Tobias Peter <tobias.peter@franka.de> GitOrigin-RevId: 4a6b3d9
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This PR adds actuation in the form of virtual springs and dampers to GELLO ROS 2:
Each Dynamixel motor has an internal PID controller that can be configured to behave like a virtual spring and damper. Damping is useful to prevent the operator from moving the GELLO arm faster than the real robot can follow. The spring-like behavior allows to support individual joints that could sag to an unwanted position when having 7 degrees of freedom.
For this, the following changes are proposed: