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Prepare cartesian controller interface for tool actuation (AMOR) #181

Merged
merged 57 commits into from
Jul 12, 2019
Merged

Prepare cartesian controller interface for tool actuation (AMOR) #181

merged 57 commits into from
Jul 12, 2019

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PeterBowman
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WIP for #115. Relevant changes:

  • new ICartesianControl::act command supporting these command vocabs:

    kinematics-dynamics/libraries/YarpPlugins/ICartesianControl.h

    Lines 112 to 117 in acc9c4f

    // Actuator control
    #define VOCAB_CC_ACTUATOR_NONE ROBOTICSLAB_VOCAB('a','c','n',0) ///< No actuator or no action
    #define VOCAB_CC_ACTUATOR_CLOSE_GRIPPER ROBOTICSLAB_VOCAB('a','c','c','g') ///< Close gripper
    #define VOCAB_CC_ACTUATOR_OPEN_GRIPPER ROBOTICSLAB_VOCAB('a','c','o','g') ///< Open gripper
    #define VOCAB_CC_ACTUATOR_STOP_GRIPPER ROBOTICSLAB_VOCAB('a','c','s','g') ///< Stop gripper
    #define VOCAB_CC_ACTUATOR_GENERIC ROBOTICSLAB_VOCAB('a','c','g',0) ///< Generic actuator

  • working implementation in AmorCartesianControl

  • added support for act command in keyboardController and streamingDeviceController apps

  • new visual-servo based app: haarDetectionController

PeterBowman and others added 30 commits August 22, 2017 19:46
@PeterBowman
Add 'act' RPC command, implement in AmorCartesianControl
6ea6018
@PeterBowman
Merge branch 'sensors' into amor-cc-actuator
696102d
@PeterBowman
Implement actuator control in streamingSpnav, enable amor_stop_hand()
9af52eb
@PeterBowman
Merge branch 'streaming-cc-rename-apps' into amor-cc-actuator
fc6b4f1 
Conflicts:
	libraries/TeoYarp/AmorCartesianControl/AmorCartesianControl.hpp
	libraries/TeoYarp/AmorCartesianControl/ICartesianControlImpl.cpp
	libraries/TeoYarp/BasicCartesianControl/BasicCartesianControl.hpp
	libraries/TeoYarp/BasicCartesianControl/ICartesianControlImpl.cpp
	libraries/TeoYarp/CartesianControlClient/CartesianControlClient.hpp
	libraries/TeoYarp/CartesianControlClient/ICartesianControlImpl.cpp
	libraries/TeoYarp/CartesianControlServer/RpcResponder.cpp
	libraries/TeoYarp/ICartesianControl.h
	programs/streamingSpnav/StreamingSpnav.cpp
	programs/streamingSpnav/StreamingSpnav.hpp
@PeterBowman
Merge branch 'sensors' into amor-cc-actuator
d9830db 
Conflicts:
	libraries/TeoYarp/AmorCartesianControl/AmorCartesianControl.hpp
	libraries/TeoYarp/AmorCartesianControl/ICartesianControlImpl.cpp
	libraries/TeoYarp/BasicCartesianControl/BasicCartesianControl.hpp
	libraries/TeoYarp/BasicCartesianControl/ICartesianControlImpl.cpp
	libraries/TeoYarp/CartesianControlClient/CartesianControlClient.hpp
	libraries/TeoYarp/CartesianControlClient/ICartesianControlImpl.cpp
	libraries/TeoYarp/ICartesianControl.h
	programs/streamingDeviceController/StreamingDeviceController.cpp
	programs/streamingDeviceController/StreamingDeviceController.hpp
@PeterBowman
Move actuator logic to StreamingDevice and derived classes
35c9f5b
@PeterBowman
Add actuator control vocabs, fill missing documentation
7bf9927 
#115
@PeterBowman
Remove unused actuator-related macro definitions
2c45c67
@PeterBowman
Create HaarDetectionController application
b27e771
@PeterBowman
Receive data from proximity sensors, actuate robot tool
7736049
@PeterBowman
Disable sensors conditionally
0a45747
@PeterBowman
Make robot approach toward the object, let users disable this
5013865
@PeterBowman
Stop control and apply constant act(*_CLOSE_GRIPPER) on target detection
e6bb875 
Needed for AMOR, also refactor delays.
@PeterBowman
Add --noMove option for testing the gripper (robot won't move at all)
d06023c
@PeterBowman
Merge branch 'haar-detection-controller' into amor-cc-actuator
853cecc
@PeterBowman
Add usage notes about [act] command
68de043
@PeterBowman
Fix misplaced colon (kids, be wise and use an IDE)
e3df3cd
@PeterBowman
Merge branch 'streaming-cc-leap' into amor-cc-actuator
ea08c88
@PeterBowman
Handle actuator by Leap Motion device
330b220
@PeterBowman
Don't overwrite VOCAB_CC_ACTUATOR_STOP_GRIPPER value
2c3b7af
@PeterBowman
Send VOCAB_CC_ACTUATOR_STOP_GRIPPER command only once
5d33488 
Follows up 2c3b7af.
@PeterBowman
Merge branch 'streaming-cc-leap' into amor-cc-actuator
72a3333
@PeterBowman
Merge branch 'streaming-cc-travis' into amor-cc-actuator
27a601d
@PeterBowman
Merge branch 'streaming-cartesian-control' into amor-cc-actuator
8b67a5e
@PeterBowman
Actuate gripper in KeyboardController
2257ac4 
So far only open/close gripper is enabled. Gripper won't stop if no key
is pressed.
@PeterBowman
Encode actuator command as a vocab
a9b6ecd
@PeterBowman
Merge branch 'amor-cc-actuator' into amor-cc-actuator-renaming
fc28237
@PeterBowman
Merge branch 'amor-cc-actuator-renaming' into amor-cc-actuator
8683ffc
@PeterBowman
Merge branch 'fix-93-stalled-builds' into amor-cc-actuator
7ead812
@PeterBowman
Merge branch 'fix-102-fkstream-rebased' into amor-cc-actuator
e12a778
@PeterBowman
Merge branch 'develop' into amor-cc-actuator
634137e
@PeterBowman
Merge branch 'develop' into amor-cc-actuator
28b6e4d 
Conflicts:
	programs/keyboardController/KeyboardController.cpp
@PeterBowman
Merge branch 'develop' into amor-cc-actuator
b87c4d7
@PeterBowman
Merge branch 'interface-targets' into amor-cc-actuator
9af51f6
@PeterBowman
Merge branch 'yarp-cmake' into amor-cc-actuator
48ea63b
@PeterBowman
Return vanilla C string instead of ConstString
edd50b1
@PeterBowman
Merge branch 'develop' into amor-cc-actuator
edaad0e
@PeterBowman
Merge branch 'develop' into amor-cc-actuator
ee9e658
@PeterBowman
Merge branch 'develop' into amor-cc-actuator
f637dca
@PeterBowman
Disable haarDetectionController if dep not found
b358b8e
@PeterBowman
Merge branch 'develop' into amor-cc-actuator
f1ca4c2
@PeterBowman
Merge branch 'develop' into amor-cc-actuator
bf74e7a
@PeterBowman
Merge branch 'develop' into amor-cc-actuator
5c6ce96
@PeterBowman
Merge branch 'develop' into amor-cc-actuator
1e0ed5f
@PeterBowman
Merge branch 'develop' into amor-cc-actuator
a881b8b 
Conflicts:
	libraries/YarpPlugins/BasicCartesianControl/BasicCartesianControl.hpp
	programs/keyboardController/KeyboardController.cpp
	programs/streamingDeviceController/StreamingDeviceController.cpp
@PeterBowman
Merge branch 'upgrade-yarp' into amor-cc-actuator
8abd5de
@PeterBowman
Merge branch 'develop' into amor-cc-actuator
c90bb38
@PeterBowman
Merge branch 'develop' into amor-cc-actuator
105a9a3
@PeterBowman
Merge branch 'develop' into amor-cc-actuator
ff4992e
@PeterBowman
Merge branch 'streaming-dev-shared-ctrl' into streaming-dev-shared-ct…
8693352 
…rl-act
@PeterBowman
Merge branch 'streaming-dev-shared-ctrl' into streaming-dev-shared-ct…
e6aa31a 
…rl-act
@PeterBowman
Conditionally handle button states
391e9c8
@PeterBowman
Merge branch 'streaming-dev-shared-ctrl' into streaming-dev-shared-ct…
58885aa 
…rl-act
@PeterBowman
Merge branch 'streaming-dev-shared-ctrl-act' into amor-cc-actuator
acc9c4f
@PeterBowman PeterBowman requested a review from jgvictores July 4, 2019 14:59
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Coverage Status

Coverage decreased (-0.6%) to 90.968% when pulling acc9c4f on amor-cc-actuator into b985abf on develop.

jgvictores
jgvictores approved these changes Jul 12, 2019
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LGTM!

@jgvictores jgvictores merged commit f14f109 into develop Jul 12, 2019
@jgvictores jgvictores deleted the amor-cc-actuator branch July 12, 2019 14:16
@PeterBowman PeterBowman mentioned this pull request Aug 5, 2019
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@PeterBowman @coveralls @jgvictores