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Signed-off-by: Charles Madjeri <charles@madjeri.com>
…g-xacro-files feat(hardware_config): add hardware xacro files
Signed-off-by: Charles Madjeri <charles@madjeri.com>
Signed-off-by: Charles Madjeri <charles@madjeri.com>
Signed-off-by: Charles Madjeri <charles@madjeri.com>
…ware-xacro evol(xacro): actuators hardware config
Implements ROS2 Control settings inside our URDF
Signed-off-by: Charles Madjeri <charles@madjeri.com>
Signed-off-by: Charles Madjeri <charles@madjeri.com>
Signed-off-by: Charles Madjeri <charles@madjeri.com>
…e RViz Signed-off-by: charlesmadjeri <studies@madjeri.com>
…ages Signed-off-by: Charles Madjeri <charles@madjeri.com>
Signed-off-by: Charles Madjeri <charles@madjeri.com>
Feat DAE & refacto for ros2_control
Signed-off-by: Charles Madjeri <charles@madjeri.com>
Add config/hardware/active.yaml (boards, actuators with shoulder Y on torso, sensors), config store (active_meta, configs/default, backups), and schema README. Install config/controllers.yaml and launch/control.launch.py; point gazebo/rviz and xacro tests at package controllers; remove broken inmoov_actuators_config_ros2_control include from hardware_config. Add pytest hardware validation, URDF cross-check, and invalid YAML fixtures. Arm servo_min/max/default align with micro_ros firmware config_left_arm.c and config_right_arm.c; 270° servos use 0..270° hardware stroke; document calibration (offset_deg, scale, direction) and parity notes. Refs: #95
…idation Relocate hardware docs under docs/, add hardware_mapping and InMoov i2 notes, remove legacy hardware_config xacros. Align active.yaml and presets with lucy_config_generator (board_class, serial_id, physical_pin as INTERNAL_SERVO_N, topics). Rename hardware config test to test_hardware_yaml and tighten fixtures for the current schema. Refs: #96
…escription-folder evol(archi): applied standard urdf package structure
… robot_description for RViz - Add config/control.launch.yaml defaults for urdf/controllers paths - control.launch: spawn controllers from controllers.yaml; fix /robot_description for RViz + ros2_control subscription - rviz.launch: include control.launch only; drop duplicate ros2_control/spawners - controllers.yaml: explicit trajectory end velocity; regen-aligned joint lists - hardware YAML: internal_servo_slots per board; doc + fixture + test updates - URDF: declare white/black materials for base/stand visuals Refs: #95
…l-config (#95) feat(hardware): YAML hardware mapping, controllers, launches, and docs
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