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3cafa82e16ba022e83742151005a6954bca22077
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28 Commits

Author SHA1 Message Date
FallenSigh
3cafa82e16 fix(arm): also negate motor direction for reversed J1 motor 
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>
 2026-06-19 10:20:18 +08:00
FallenSigh
6a0ff886f3 fix(arm): compensate for reversed J1 motor direction 
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>
 2026-06-19 10:17:58 +08:00
FallenSigh
e3d997dafe refactor(udp_teleop): derive camera stream URL from unified IP parameter 
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>
 2026-06-19 10:07:52 +08:00
FallenSigh
4d552eca64 fix(arm_control): change reset height to -285mm 
Reset Z coordinate changed from -120 to -285 in both YAML config and Python code default.

Ultraworked with [Sisyphus](https://github.com/code-yeongyu/oh-my-openagent)

Co-authored-by: Sisyphus <clio-agent@sisyphuslabs.ai>
 2026-06-19 10:04:30 +08:00
FallenSigh
8f5a051de8 chore: unify all ESP32 UDP IP to 192.168.4.1 
arm_control.yaml, params.yaml, vision_grasp.launch.py, navigate_to_point.py now all default to the ESP32 AP mode address.

Ultraworked with [Sisyphus](https://github.com/code-yeongyu/oh-my-openagent)

Co-authored-by: Sisyphus <clio-agent@sisyphuslabs.ai>
 2026-06-19 10:02:13 +08:00
FallenSigh
83a6242c32 feat(udp_teleop): add vision grasp bringup launch file 
Bundles arm_control + vision_grasp + optional box_detection_grasp into single ros2 launch.
Launch arguments: detection (enable YOLO), auto_grasp, udp_ip, show_debug.

Ultraworked with [Sisyphus](https://github.com/code-yeongyu/oh-my-openagent)

Co-authored-by: Sisyphus <clio-agent@sisyphuslabs.ai>
 2026-06-19 09:58:28 +08:00
FallenSigh
7ed065e399 fix(craic_localization): increase grid resolution to 1cm for 4x4m field 
gmapping delta: 0.02 -> 0.01, 5m x 5m map = 500x500 cells

Ultraworked with [Sisyphus](https://github.com/code-yeongyu/oh-my-openagent)

Co-authored-by: Sisyphus <clio-agent@sisyphuslabs.ai>
 2026-06-19 07:51:45 +08:00
FallenSigh
752f78f0ad fix(craic_localization): optimize SLAM and AMCL parameters for 4x4m field 
gmapping: shrink map bounds from 20x20m to 5x5m (xmin/max: -0.5/4.5), increase grid resolution from 5cm to 2cm (delta: 0.02), more particles (50), tighter update thresholds (linear 0.1, angular 0.2)

amcl: raise motion noise 10x (alpha1-2,5: 0.005->0.05, alpha3-4: 0.1) to stop blindly trusting rf2o, clamp laser range to 5m, tighten likelihood window to 1.5m, reduce update thresholds (d: 0.02, a: 0.03), disable random particle injection (recovery_alpha: 0.0)

Ultraworked with [Sisyphus](https://github.com/code-yeongyu/oh-my-openagent)

Co-authored-by: Sisyphus <clio-agent@sisyphuslabs.ai>
 2026-06-19 06:45:40 +08:00
FallenSigh
8ecbfd759e feat(craic_localization): add localization, teach-in, and navigation nodes 
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>
 2026-06-19 06:30:37 +08:00
FallenSigh
a546aff1a6 feat(craic_localization): add package foundation, configs, and launch files 
New ROS2 package for wheel odometry + LiDAR localization. Includes: AMCL config (omni model, likelihood_field), gmapping config (5cm grid, 30 particles), YDLiDAR TminiPro config, launch files for lidar bringup, SLAM mapping, AMCL localization, and sensor calibration, plus RViz config with Map/LaserScan/Odometry displays.

Ultraworked with [Sisyphus](https://github.com/code-yeongyu/oh-my-openagent)

Co-authored-by: Sisyphus <clio-agent@sisyphuslabs.ai>
 2026-06-19 06:30:30 +08:00
FallenSigh
46a18f68bf feat: add RF2O laser odometry package (ported from lzu_robot) 
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>
 2026-06-19 06:30:20 +08:00
FallenSigh
c12a35a4a2 feat: add YDLIDAR ROS2 driver package (ported from move_try) 
TminiPro LiDAR driver with multi-model parameter configs (X4, G1, G2, G6, TminiPro, etc.), ROS2 lifecycle management, and RViz debug config.

Ultraworked with [Sisyphus](https://github.com/code-yeongyu/oh-my-openagent)

Co-authored-by: Sisyphus <clio-agent@sisyphuslabs.ai>
 2026-06-19 06:30:19 +08:00
FallenSigh
da97c1068c chore: tune keyboard control timing and reduce status output 
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>
 2026-06-19 06:30:11 +08:00
FallenSigh
b9d61cdd70 chore: add ROS2 build convenience script 
Single-command colcon build helper for the common robostack configuration.

Ultraworked with [Sisyphus](https://github.com/code-yeongyu/oh-my-openagent)

Co-authored-by: Sisyphus <clio-agent@sisyphuslabs.ai>
 2026-06-19 06:30:10 +08:00
FallenSigh
181be30d93 chore(vision_grasp): 调整相机 Z 偏移参数 cam_tz 至 30mm 
Ultraworked with [Sisyphus](https://github.com/code-yeongyu/oh-my-openagent)

Co-authored-by: Sisyphus <clio-agent@sisyphuslabs.ai>
 2026-06-16 22:13:03 +08:00
FallenSigh
67cf20b1c4 feat(arm_control): 添加启动自动复位功能并修复 UDP 命令调用 
Ultraworked with [Sisyphus](https://github.com/code-yeongyu/oh-my-openagent)

Co-authored-by: Sisyphus <clio-agent@sisyphuslabs.ai>
 2026-06-16 22:12:55 +08:00
FallenSigh
a832dfaeb1 feat: 添加方框检测与自动抓取节点 
功能：
- 基于 YOLO 实时检测方框
- 自动模式：启动后自动检测并抓取
- 手动模式：通过服务触发检测
- 检测成功后自动停止并发布抓取目标
- 3D 坐标估计（基于方框尺寸和相机 FOV）

节点：box_detection_grasp
- 话题：/vision_grasp/grasp_target (发布)
- 服务：/box_detection/start (启动检测)
- 服务：/box_detection/stop (停止检测)

配置：
- auto_grasp: 自动/手动模式切换
- box_size_m: 方框尺寸（用于深度估计）
- show_debug_window: 调试窗口

使用：
ros2 run udp_teleop box_detection_grasp \
    --ros-args --params-file config/box_detection_grasp.yaml \
    -p auto_grasp:=true

详细文档：docs/box_detection_grasp.md
 2026-06-16 21:28:09 +08:00
FallenSigh
aa1bc2bf75 fix(vision_grasp): 修正 tcp_to_base 旋转矩阵 Y 坐标符号 
问题：
- 相机坐标 (10, -5, 100) → 基坐标 (299.6, 10, 15)
- 期望：(299.6, -10, 15)
- Y 坐标符号相反

根因：
- 旋转矩阵第二行：TCP X → 基坐标 Y
- 应该是：TCP X → 基坐标 -Y

修复：
- 第二行从 [cos(phi), 0, sin(phi)]
- 改为 [-cos(phi), 0, -sin(phi)]

验证（phi=0）：
- TCP (10, -5, 100) + TCP位置(199.6, 0, 10)
- = 基坐标 (299.6, -10, 15) ✓
 2026-06-16 20:15:56 +08:00
FallenSigh
3f4dfe02a7 chore: 移除调试日志 
相机旋转问题已修复，移除临时 DEBUG 输出
 2026-06-16 20:12:42 +08:00
FallenSigh
197de7908a fix: 修正 UP/DOWN 与 J5 角度的对应关系 
问题：
- 之前错误地将 J5=81 (张开) 标记为 UP
- 实际上 J5=-100 (闭合) 才是 UP（夹爪朝上）

正确对应关系：
- UP: J5=-100 (闭合), z4=-100, 工作范围 z ∈ [-190, 110]mm
- DOWN: J5=81 (张开), z4=55, 工作范围 z ∈ [-345, -55]mm

修复内容：
- 重命名常量：Z4_OPEN/Z4_CLOSED → Z4_UP/Z4_DOWN
- 更新 resolve_z4_from_j5(): J5 < 0 → UP
- 更新 vision_grasp 相机旋转逻辑：J5 < 0 → 正向
- 更新文档说明

现在 UP/DOWN 语义正确且一致！
 2026-06-16 20:01:24 +08:00
FallenSigh
aa7cd87151 fix: 修复类型错误并添加 up/down 显式控制 
问题 1：发布状态失败 - 类型错误
- 修复：在发布 TCP 位姿时显式转换为 float
- 修复：在 GetPose 响应中显式转换类型

问题 2：缺少显式 z4 控制
- 添加 up/down 参数到 MovePose 服务
- up: 强制使用 z4=-100（夹爪朝上）
- down: 强制使用 z4=55（夹爪朝下）
- 默认：根据目标 z 坐标自动选择

控制逻辑：
- z4 选择优先级：up/down > 自动选择
- up/down 与 grip/release 完全独立
- up/down 控制夹爪高度（z4）
- grip/release 控制夹爪开合（J6）

与 udp_control.py 行为完全一致！
 2026-06-16 19:44:12 +08:00
FallenSigh
33f1a31c59 feat(arm_control): 实现动态 z4 自动适配机制 
问题根源：
- udp_control.py 使用动态 z4（根据目标 z 自动选择）
- arm_control.py 使用固定 z4=80
- 导致相同目标位姿在两个工具中行为不一致

解决方案：
- 添加 resolve_j5_from_z(): 根据目标 z 自动选择 J5
- 添加 resolve_z4_from_j5(): 根据 J5 确定 z4 值
- 更新正/逆运动学接受动态 z4 参数
- 自动适配规则：
  * z > -55mm: J5=-100, z4=-100 (闭合, 工作范围 [-190, 110])
  * z ≤ -55mm: J5=81, z4=55 (张开, 工作范围 [-345, -55])

现在 arm_control 与 udp_control.py 行为一致！
 2026-06-16 19:37:42 +08:00
FallenSigh
df436a9a31 fix(vision_grasp): 根据 J5 状态处理相机旋转 180° 
问题：
- 相机水平安装，但随 J5 状态旋转 180°
- J5 张开（UP）：相机正向，图像正常
- J5 闭合（DOWN）：相机旋转 180°，图像上下颠倒

解决方案：
- 从 GetPose 获取 J5 状态
- J5 > 0 (UP): (xc, yc, zc) = (x_img, -y_img, z)
- J5 < 0 (DOWN): (xc, yc, zc) = (-x_img, y_img, z)
- 自动处理相机旋转，无需手动调整

更新文档说明相机旋转机制
 2026-06-16 19:25:13 +08:00
FallenSigh
f00537ebb9 docs: 整理和精简文档结构 
- 删除冗余文档（6个重复的说明文档）
- 更新 README.md：简洁清晰的项目总览
- 更新 ros2/README.md：完整的 ROS 2 使用指南
- 保留核心技术文档：docs/arm.md（运动学推导）

文档现在更加简洁，避免重复内容
 2026-06-16 19:01:42 +08:00
FallenSigh
83b32542ef feat: 添加机械臂 ROS 2 控制节点和视觉抓取系统 
- 创建 arm_control_msgs 包：定义机械臂控制的消息和服务接口
  - 消息：JointState, TCPPose
  - 服务：MoveJoints, MovePose, GetPose, SetGripper

- 实现 arm_control 节点：独立的机械臂控制 ROS 节点
  - 完整的逆运动学和正运动学
  - 关节空间和笛卡尔空间运动控制
  - UDP 通信与 ESP32
  - 状态发布（10Hz）

- 实现 vision_grasp 节点：自动化视觉抓取
  - 相机坐标系到基坐标系的完整变换
  - 自动抓取流程：释放→移动→抓取→回收
  - 自动释放流程：移动→释放→回收
  - 多线程执行器支持

- 添加完整文档
  - ARM_CONTROL_README.md: 机械臂控制节点使用指南
  - VISION_GRASP_README.md: 视觉抓取节点使用指南
  - QUICKSTART.md: 快速开始指南
  - 文档重命名：docs/craic.md → docs/arm.md
 2026-06-16 18:45:01 +08:00
FallenSigh
f343a01372 Add arm UDP controller with IK and interpolation 2026-06-12 19:01:48 +08:00
FallenSigh
6469e77633 docs: add ros2 workspace README with multi-method installation 2026-05-27 02:29:06 +08:00
FallenSigh
6f6577d983 chore: add ros2 udp_teleop package and tools 2026-05-27 02:17:35 +08:00