guru-florida

#
# Dynamic URDF Publisher
#
# This script monitors a URDF file and when changed will publish to /robot_description
#
# Requirements:
#   Besides the standard Ros2 modules, Install watchdog module for listening 
#   to filesystem events:
#      `pip3 install watchdog`
#

guru-florida

Work in Progress Looking for feedback on the design and code.

Read/Write Realtime Hardware buffers

From what I can tell, there are some issues with using realtime_tools::RealtimeBuffer in our ros2_control hardware interfaces. It seems this RealtimeBuffer is only useful for writing to a realtime based on the use of the new_data_available internal variable. For reading state from the realtime thread we dont have an existing RealtimeBuffer.

The internal implementation of the "swapping double buffer pointers" works for both modes, only the interface (read vs write) to this swapping buffer needs to change. Therefor I

guru-florida

#!/usr/bin/env python3
#
# model-training.py
# Use HyperOpt and Gazebo to train parameters of your robot. Perfoms a number
# of episodic simulations and optimizing the inputs to a xacro-enabled urdf file.
#
# Copyright 2020 FlyingEinstein.com
# Author: Colin F. MacKenzie
#
# Features:

guru-florida

#!/usr/bin/python3

#
# Humanoid Service Control
#
# This python script controls an RGB LED connected to the RPi GPIO in order to display ROS2 robot status. It also
# scans a button which can toggle stand-alone or development mode, or on long-hold shutdown the RPi. This may not
# fit your needs, and you could instead just have it call humanoidctl command above on start, stop, status.
#

guru-florida

{
  "$schema": "https://vega.github.io/schema/vega/v5.json",
  "width": 1500,
  "height": 50,
  "padding": 15,

  "signals": [
    {
      "name": "rangeLimits",
      "value": [30, 120]