ouspg / sop-robot Goto Github PK
View Code? Open in Web Editor NEWRobot project for the Embedded Software Project [521275A] and Software Project [521479S]
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jeer1k ellaj jaakko98 dakcser essipassoja nkansako kallekulju vilatsut joelryt ugozouaghi northund morriskrr mhe999 ppp2 mk473203 jruntti20 akorpi0 krvperera ekelhala veikkovahasoyrinki debpetra matluuk felixschurk tonikyllonensop-robot's Issues
Face tracker - implement ROS support
ROS support for https://github.com/ouspg/SOP-Robot/tree/master/src/face-tracker is incomplete.
Add relevant publish/subscribe functionalities, so that other nodes can interact with this node.
Upgrade The Leuka (src/leuka) to use dynamixel workbench
Currently, The Leuka uses Arduino Serial to drive the jaw servo. This is incompatible with how the rest of the project use Dynamixel Workbench to drive servos. This very likely causes problems when daisy chaining this servo with the others.
Upgrade src/head-gestures to use moveit and dynamixel workbench
Currently, src/head-gestures uses rosserial and Arduino. Therefore, using this as it is would require using a dedicated Arduino for head gestures.
Upgrade to ROS2 Humble
It seams as currently robot_hardware is blocking a possible upgrade to humble due to changes in ros2_control.
https://github.com/ouspg/SOP-Robot/tree/be5fc440fba4c07996a7bc5a0c73b3bc76e760a5/src/robot_hardware
Here is a quick overview about what would need to be changed to run under Galactic, however I think this will also be true under Humble.
https://github.com/ros-controls/ros2_control/blob/b989f701e8a1c596fb24691183781325bf65c5e7/doc/migration/Foxy.rst#L23
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