Previous +290 fix handled static position mapping but motion direction was still reversed. Correct formula: motor = -height - 290. This handles both: position endpoints (height -290/-0 maps correctly) AND motion direction (increasing height now moves arm up instead of down).
Ultraworked with [Sisyphus](https://github.com/code-yeongyu/oh-my-openagent)
Co-authored-by: Sisyphus <clio-agent@sisyphuslabs.ai>
J1 motor rotation is reversed after replacement: code height=0 now maps to physical bottom (was -290). Fix by adding +290 offset in UDP command (to_udp_message and keyboard_control). User-facing coordinate system (-290=bottom, 0=top) is unchanged; FK/IK/state tracking unaffected.
Ultraworked with [Sisyphus](https://github.com/code-yeongyu/oh-my-openagent)
Co-authored-by: Sisyphus <clio-agent@sisyphuslabs.ai>
Replace hardcoded stream_url with camera_ip parameter in box_detection_grasp. The launch file passes udp_ip as camera_ip, so all ESP32 addresses (UDP control + camera stream) now come from a single udp_ip launch argument.
Ultraworked with [Sisyphus](https://github.com/code-yeongyu/oh-my-openagent)
Co-authored-by: Sisyphus <clio-agent@sisyphuslabs.ai>
Four ROS2 nodes:
- chassis_odometry: reads chassis MCU serial (32B packet), publishes /odom + TF odom->base_footprint
- teach_points: records map-frame waypoints from AMCL TF, saves to YAML with interactive CLI
- show_points: publishes visualization_msgs/MarkerArray to /taught_points for RViz display of waypoints with ARROW+TEXT markers
- navigate_to_point: holonomic P-controller that reads YAML waypoints and drives Mecanum chassis via UDP XYW commands, with /goto topic interface
Ultraworked with [Sisyphus](https://github.com/code-yeongyu/oh-my-openagent)
Co-authored-by: Sisyphus <clio-agent@sisyphuslabs.ai>
Range Flow-based 2D odometry (ICRA 2016). Provides continuous odom->base_footprint TF from /scan without wheel odometry. Refactored: core algorithm in pure C++ class, ROS coupling only in node wrapper.
Ultraworked with [Sisyphus](https://github.com/code-yeongyu/oh-my-openagent)
Co-authored-by: Sisyphus <clio-agent@sisyphuslabs.ai>
Increase update_rate from 0.05 to 0.03 (faster command cycle), adjust stdin_hold_time from 0.04 to 0.08, and rate-limit console status output to every 5th tick to reduce terminal noise.
Ultraworked with [Sisyphus](https://github.com/code-yeongyu/oh-my-openagent)
Co-authored-by: Sisyphus <clio-agent@sisyphuslabs.ai>
- Add per-joint angle limits (J2=-110..115, J3=-120..145, J4=-90..130)
with CLI overrides and validation
- Replace Cartesian interpolation with joint-space interpolation in
pose mode to guarantee intermediate steps stay within joint limits
- Add --up/--down mutually exclusive groups to both joints and pose
modes; pose mode auto-detects from z when neither is specified
- Add --grip/--release for J6 control (GRIP/RELEASE_ANGLE placeholders)
- Update cached state to match latest run
- Add resolve_gripper_from_z(): z>=55 → down (open), z<55 → up (closed),
overlap range prefers down
- Remove --up flag from pose subparser (fully auto-detected from --z)
- joints mode retains manual --up flag
- Update cached state to match latest run
- Switch height to user coordinates (0=top, 290=bottom mm), invert sign
internally for UDP protocol
- Replace raw --j5 arg with --up flag (gripper up/down toggle)
- Add default geometry constants (L1, L2, X4, Z4) and gripper
open/closed angles
- Update --show-fk and pose mode to derive Z4 from gripper state
- Add mm unit annotations to all CLI help text and output
- Update cached joint state to match new coordinate convention
- Add camera_capture.py: single-shot JPEG grabber from ESP32 MJPEG stream
- Fix missing newline at EOF in craic.md
