Controls Stack

Setup

Download dependencies with the following code.

sudo apt install ros-humble-smach-ros
sudo apt install ros-humble-tf-transformations
pip3 install transforms3d
pip3 install dependency-injector
pip3 install simple_pid

Pool Testing

1. Build and source.

colcon build --symlink-install
source install/setup.bash

2. Modify /tasks/movement_test.py as needed to configure state machine and associated movement tasks.
3. Launch cameras, sensors, etc.
4. Launch base nodes needed for initialising controls stack. NOTE: To reset IMU drift, relaunch base.launch.py.

ros2 launch launch_files base.launch.py

5. Launch movement test.

ros2 launch launch_files movement.launch.py

Simulation

1. Build and source.

colcon build --symlink-install
source install/setup.bash

2. Modify /simulation/movement_test_sim.py as needed to configure state machine and associated movement tasks.
3. Launch simulation.

ros2 launch launch_files simulation.launch.py

How it Works

Structure

Flow

Packages and Scripts