From 9ccfaaa3e0cb34fdcfaf105d4f5b6c03ce38914c Mon Sep 17 00:00:00 2001
From: "Safeea, Mohammad" <mohammad.safeea@hilti.com>
Date: Sat, 12 Apr 2025 00:34:57 +0200
Subject: [PATCH 01/58] install meshes

---
 penta_description/CMakeLists.txt | 1 +
 1 file changed, 1 insertion(+)

diff --git a/penta_description/CMakeLists.txt b/penta_description/CMakeLists.txt
index 6f8c5b1..5ef0e79 100644
--- a/penta_description/CMakeLists.txt
+++ b/penta_description/CMakeLists.txt
@@ -13,6 +13,7 @@ install(
   config
   urdf
   launch
+  meshes
   DESTINATION share/${PROJECT_NAME}
 )
 

From 08b205ec8001f031d561fc703b3e012e2c31ecfd Mon Sep 17 00:00:00 2001
From: "Safeea, Mohammad" <mohammad.safeea@hilti.com>
Date: Sat, 12 Apr 2025 00:35:15 +0200
Subject: [PATCH 02/58] 3D meshes

---
 .../visual/penta_stl_v1/Chassi spacers.stl    | Bin 0 -> 83284 bytes
 .../visual/penta_stl_v1/Chassi_bottom.stl     | Bin 0 -> 355884 bytes
 .../visual/penta_stl_v1/Chassi_middle.stl     | Bin 0 -> 429884 bytes
 .../meshes/visual/penta_stl_v1/Chassi_top.stl | Bin 0 -> 519784 bytes
 .../visual/penta_stl_v1/Chassi_top_cover.stl  | Bin 0 -> 129184 bytes
 .../meshes/visual/penta_stl_v1/Lower_arm.stl  | Bin 0 -> 1363784 bytes
 .../visual/penta_stl_v1/Resting supports.stl  | Bin 0 -> 92684 bytes
 .../meshes/visual/penta_stl_v1/Shoe.stl       | Bin 0 -> 986684 bytes
 .../meshes/visual/penta_stl_v1/Shoulder.stl   | Bin 0 -> 911184 bytes
 .../meshes/visual/penta_stl_v1/Upper_arm.stl  | Bin 0 -> 1370084 bytes
 10 files changed, 0 insertions(+), 0 deletions(-)
 create mode 100644 penta_description/meshes/visual/penta_stl_v1/Chassi spacers.stl
 create mode 100644 penta_description/meshes/visual/penta_stl_v1/Chassi_bottom.stl
 create mode 100644 penta_description/meshes/visual/penta_stl_v1/Chassi_middle.stl
 create mode 100644 penta_description/meshes/visual/penta_stl_v1/Chassi_top.stl
 create mode 100644 penta_description/meshes/visual/penta_stl_v1/Chassi_top_cover.stl
 create mode 100644 penta_description/meshes/visual/penta_stl_v1/Lower_arm.stl
 create mode 100644 penta_description/meshes/visual/penta_stl_v1/Resting supports.stl
 create mode 100644 penta_description/meshes/visual/penta_stl_v1/Shoe.stl
 create mode 100644 penta_description/meshes/visual/penta_stl_v1/Shoulder.stl
 create mode 100644 penta_description/meshes/visual/penta_stl_v1/Upper_arm.stl

diff --git a/penta_description/meshes/visual/penta_stl_v1/Chassi spacers.stl b/penta_description/meshes/visual/penta_stl_v1/Chassi spacers.stl
new file mode 100644
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diff --git a/penta_description/meshes/visual/penta_stl_v1/Chassi_bottom.stl b/penta_description/meshes/visual/penta_stl_v1/Chassi_bottom.stl
new file mode 100644
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diff --git a/penta_description/meshes/visual/penta_stl_v1/Chassi_middle.stl b/penta_description/meshes/visual/penta_stl_v1/Chassi_middle.stl
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diff --git a/penta_description/meshes/visual/penta_stl_v1/Chassi_top.stl b/penta_description/meshes/visual/penta_stl_v1/Chassi_top.stl
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diff --git a/penta_description/meshes/visual/penta_stl_v1/Chassi_top_cover.stl b/penta_description/meshes/visual/penta_stl_v1/Chassi_top_cover.stl
new file mode 100644
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diff --git a/penta_description/meshes/visual/penta_stl_v1/Lower_arm.stl b/penta_description/meshes/visual/penta_stl_v1/Lower_arm.stl
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diff --git a/penta_description/meshes/visual/penta_stl_v1/Resting supports.stl b/penta_description/meshes/visual/penta_stl_v1/Resting supports.stl
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diff --git a/penta_description/meshes/visual/penta_stl_v1/Shoe.stl b/penta_description/meshes/visual/penta_stl_v1/Shoe.stl
new file mode 100644
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literal 0
HcmV?d00001


From 0b1c5e649e4f113be8b17950001391b1dea04888 Mon Sep 17 00:00:00 2001
From: "Safeea, Mohammad" <mohammad.safeea@hilti.com>
Date: Sat, 12 Apr 2025 00:43:08 +0200
Subject: [PATCH 03/58] add 3D models

---
 penta_description/urdf/penta.urdf.xacro | 53 ++++++++++++++++++-------
 1 file changed, 38 insertions(+), 15 deletions(-)

diff --git a/penta_description/urdf/penta.urdf.xacro b/penta_description/urdf/penta.urdf.xacro
index ce2c466..14d1382 100644
--- a/penta_description/urdf/penta.urdf.xacro
+++ b/penta_description/urdf/penta.urdf.xacro
@@ -1,15 +1,19 @@
 <?xml version="1.0"?>
 
 <robot name="penta_bot" xmlns:xacro="http://www.ros.org/wiki/xacro">
+  
+  <xacro:property name="PI" value="3.141592" />
+  <xacro:property name="PI2" value="${PI/2}" />
+  <xacro:property name="base_visual_yaw" value="0.32" />
 
   <link name="base_footprint"/>
 
   <link name="base_link">
     <visual>
       <geometry>
-        <cylinder radius="0.085" length="0.025"/>
+        <mesh filename="package://penta_description/meshes/visual/penta_stl_v1/Chassi_middle.stl" scale="0.001 0.001 0.001"/>
       </geometry>
-      <origin xyz="0.0 0.0 0.0" rpy="0 0 0"/>
+      <origin xyz="0.0 0.0 0.0" rpy="0 0 ${base_visual_yaw}"/>
     </visual>
   </link>
 
@@ -22,7 +26,7 @@
   <link name="head_link">
     <visual>
       <geometry>
-        <sphere radius="0.05"/>
+        <sphere radius="0.01"/>
       </geometry>
       <material name="green">
         <color rgba="0 1 0 1"/>
@@ -35,8 +39,24 @@
     <child link="head_link"/>
     <origin xyz="-0.1 0.0 0.025" rpy="0 0 0"/>
   </joint>
+
+  <xacro:macro name="add_base_plate" params="name stl_file_name z">
+    <link name="${name}_link">
+      <visual>
+        <geometry>
+          <mesh filename="package://penta_description/meshes/visual/penta_stl_v1/${stl_file_name}" scale="0.001 0.001 0.001"/>
+        </geometry>
+        <origin xyz="0.0 0.0 0.0" rpy="0 0 ${base_visual_yaw}"/>
+      </visual>
+    </link>
+    <joint name="${name}_joint" type="fixed">
+      <parent link="base_link"/>
+      <child link="${name}_link"/>
+    <origin xyz="0.0 0.0 ${z}" rpy="0 0 0"/>
+  </joint>
+  </xacro:macro>
     
-  <xacro:macro name="leg" params="prefix shoulderxyz shoulderrpy">
+  <xacro:macro name="add_leg" params="prefix shoulderxyz shoulderrpy">
     <link name="${prefix}_shoulder_motor">
       <visual>
         <geometry>
@@ -49,27 +69,27 @@
     <link name="${prefix}_shoulder_link">
       <visual>
         <geometry>
-          <box size="0.0455 0.02 0.02"/>
+          <mesh filename="package://penta_description/meshes/visual/penta_stl_v1/Shoulder.stl" scale="0.001 0.001 0.001"/>
         </geometry>
-        <origin xyz="0.02275 0.0 0.0" rpy="0 0 0"/>
+        <origin xyz="0.0 0.0 0.0" rpy="-${PI2} 0 0"/>
       </visual>
     </link>
 
     <link name="${prefix}_upper_arm_link">
       <visual>
         <geometry>
-          <box size="0.096 0.02 0.02"/>
+          <mesh filename="package://penta_description/meshes/visual/penta_stl_v1/Upper_arm.stl" scale="0.001 0.001 0.001"/>
         </geometry>
-        <origin xyz="0.048 0.0 0.0" rpy="0 0 0"/>
+        <origin xyz="0.0 0.0 0.0" rpy="0 0 0"/>
       </visual>
     </link>
 
     <link name="${prefix}_lower_arm_link">
       <visual>
         <geometry>
-          <box size="0.158 0.02 0.02"/>
+          <mesh filename="package://penta_description/meshes/visual/penta_stl_v1/Lower_arm.stl" scale="0.001 0.001 0.001"/>
         </geometry>
-        <origin xyz="0.079 0.0 0.0" rpy="0 0 0"/>
+        <origin xyz="0.0 0.0 0.0" rpy="-${PI2} ${PI2} 0.4"/>
       </visual>
     </link>
 
@@ -104,10 +124,13 @@
 
   </xacro:macro>
 
-<xacro:leg prefix="limb0" shoulderxyz="${0.085*cos(0.*3.141592/2.5)} ${0.085*sin(0.*3.141592/2.5)} 0." shoulderrpy="0. 0. ${(0.*3.141592/2.5)}"/>
-<xacro:leg prefix="limb1" shoulderxyz="${0.085*cos(1.*3.141592/2.5)} ${0.085*sin(1.*3.141592/2.5)} 0." shoulderrpy="0. 0. ${(1.*3.141592/2.5)}"/>
-<xacro:leg prefix="limb2" shoulderxyz="${0.085*cos(2.*3.141592/2.5)} ${0.085*sin(2.*3.141592/2.5)} 0." shoulderrpy="0. 0. ${(2.*3.141592/2.5)}"/>
-<xacro:leg prefix="limb3" shoulderxyz="${0.085*cos(3.*3.141592/2.5)} ${0.085*sin(3.*3.141592/2.5)} 0." shoulderrpy="0. 0. ${(3.*3.141592/2.5)}"/>
-<xacro:leg prefix="limb4" shoulderxyz="${0.085*cos(4.*3.141592/2.5)} ${0.085*sin(4.*3.141592/2.5)} 0." shoulderrpy="0. 0. ${(4.*3.141592/2.5)}"/>
+<xacro:add_leg prefix="limb0" shoulderxyz="${0.085*cos(0.*3.141592/2.5)} ${0.085*sin(0.*3.141592/2.5)} 0." shoulderrpy="0. 0. ${(0.*3.141592/2.5)}"/>
+<xacro:add_leg prefix="limb1" shoulderxyz="${0.085*cos(1.*3.141592/2.5)} ${0.085*sin(1.*3.141592/2.5)} 0." shoulderrpy="0. 0. ${(1.*3.141592/2.5)}"/>
+<xacro:add_leg prefix="limb2" shoulderxyz="${0.085*cos(2.*3.141592/2.5)} ${0.085*sin(2.*3.141592/2.5)} 0." shoulderrpy="0. 0. ${(2.*3.141592/2.5)}"/>
+<xacro:add_leg prefix="limb3" shoulderxyz="${0.085*cos(3.*3.141592/2.5)} ${0.085*sin(3.*3.141592/2.5)} 0." shoulderrpy="0. 0. ${(3.*3.141592/2.5)}"/>
+<xacro:add_leg prefix="limb4" shoulderxyz="${0.085*cos(4.*3.141592/2.5)} ${0.085*sin(4.*3.141592/2.5)} 0." shoulderrpy="0. 0. ${(4.*3.141592/2.5)}"/>
+
+<xacro:add_base_plate name="upper_plate" stl_file_name="Chassi_top.stl" z="0.03"/>
+<xacro:add_base_plate name="lower_plate" stl_file_name="Chassi_bottom.stl" z="-0.03"/>
 
 </robot>

From 5a8645bda6ccfb8cf246acf2b41206ce34b094b1 Mon Sep 17 00:00:00 2001
From: "Safeea, Mohammad" <mohammad.safeea@hilti.com>
Date: Sat, 12 Apr 2025 00:43:48 +0200
Subject: [PATCH 04/58] simple geometry, depricated

---
 penta_description/urdf/wire_frame.urdf.xacro | 136 +++++++++++++++++++
 1 file changed, 136 insertions(+)
 create mode 100644 penta_description/urdf/wire_frame.urdf.xacro

diff --git a/penta_description/urdf/wire_frame.urdf.xacro b/penta_description/urdf/wire_frame.urdf.xacro
new file mode 100644
index 0000000..14d1382
--- /dev/null
+++ b/penta_description/urdf/wire_frame.urdf.xacro
@@ -0,0 +1,136 @@
+<?xml version="1.0"?>
+
+<robot name="penta_bot" xmlns:xacro="http://www.ros.org/wiki/xacro">
+  
+  <xacro:property name="PI" value="3.141592" />
+  <xacro:property name="PI2" value="${PI/2}" />
+  <xacro:property name="base_visual_yaw" value="0.32" />
+
+  <link name="base_footprint"/>
+
+  <link name="base_link">
+    <visual>
+      <geometry>
+        <mesh filename="package://penta_description/meshes/visual/penta_stl_v1/Chassi_middle.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <origin xyz="0.0 0.0 0.0" rpy="0 0 ${base_visual_yaw}"/>
+    </visual>
+  </link>
+
+  <joint name="joint_robot_body_center" type="floating">
+    <parent link="base_footprint"/>
+    <child link="base_link"/>
+    <origin xyz="0.0 0.0 0.075" rpy="0 0 0"/>
+  </joint>
+
+  <link name="head_link">
+    <visual>
+      <geometry>
+        <sphere radius="0.01"/>
+      </geometry>
+      <material name="green">
+        <color rgba="0 1 0 1"/>
+      </material>
+    </visual>
+  </link>
+
+  <joint name="head_base" type="fixed">
+    <parent link="base_link"/>
+    <child link="head_link"/>
+    <origin xyz="-0.1 0.0 0.025" rpy="0 0 0"/>
+  </joint>
+
+  <xacro:macro name="add_base_plate" params="name stl_file_name z">
+    <link name="${name}_link">
+      <visual>
+        <geometry>
+          <mesh filename="package://penta_description/meshes/visual/penta_stl_v1/${stl_file_name}" scale="0.001 0.001 0.001"/>
+        </geometry>
+        <origin xyz="0.0 0.0 0.0" rpy="0 0 ${base_visual_yaw}"/>
+      </visual>
+    </link>
+    <joint name="${name}_joint" type="fixed">
+      <parent link="base_link"/>
+      <child link="${name}_link"/>
+    <origin xyz="0.0 0.0 ${z}" rpy="0 0 0"/>
+  </joint>
+  </xacro:macro>
+    
+  <xacro:macro name="add_leg" params="prefix shoulderxyz shoulderrpy">
+    <link name="${prefix}_shoulder_motor">
+      <visual>
+        <geometry>
+          <cylinder radius="0.0350" length="0.035"/>
+        </geometry>
+        <origin xyz="0.0 0.0 0.0" rpy="0 0 0"/>
+      </visual>
+    </link>
+
+    <link name="${prefix}_shoulder_link">
+      <visual>
+        <geometry>
+          <mesh filename="package://penta_description/meshes/visual/penta_stl_v1/Shoulder.stl" scale="0.001 0.001 0.001"/>
+        </geometry>
+        <origin xyz="0.0 0.0 0.0" rpy="-${PI2} 0 0"/>
+      </visual>
+    </link>
+
+    <link name="${prefix}_upper_arm_link">
+      <visual>
+        <geometry>
+          <mesh filename="package://penta_description/meshes/visual/penta_stl_v1/Upper_arm.stl" scale="0.001 0.001 0.001"/>
+        </geometry>
+        <origin xyz="0.0 0.0 0.0" rpy="0 0 0"/>
+      </visual>
+    </link>
+
+    <link name="${prefix}_lower_arm_link">
+      <visual>
+        <geometry>
+          <mesh filename="package://penta_description/meshes/visual/penta_stl_v1/Lower_arm.stl" scale="0.001 0.001 0.001"/>
+        </geometry>
+        <origin xyz="0.0 0.0 0.0" rpy="-${PI2} ${PI2} 0.4"/>
+      </visual>
+    </link>
+
+    <joint name="${prefix}/joint_shoulder_motor" type="fixed">
+      <parent link="base_link"/>
+      <child link="${prefix}_shoulder_motor"/>
+      <origin xyz="${shoulderxyz}" rpy="${shoulderrpy}"/>
+    </joint>
+
+
+    <joint name="${prefix}/joint0" type="continuous">
+      <parent link="${prefix}_shoulder_motor"/>
+      <child link="${prefix}_shoulder_link"/>
+      <origin xyz="0.0 0.0 0.0" rpy="0 0 0"/>
+      <axis xyz="0 0 1" />
+    </joint>
+
+    <joint name="${prefix}/joint1" type="continuous">
+      <parent link="${prefix}_shoulder_link"/>
+      <child link="${prefix}_upper_arm_link"/>
+      <origin xyz="0.0455 0.0 0.0" rpy="-1.57 0 0"/>
+      <axis xyz="0 0 1" />
+    </joint>
+
+
+    <joint name="${prefix}/joint2" type="continuous">
+      <parent link="${prefix}_upper_arm_link"/>
+      <child link="${prefix}_lower_arm_link"/>
+      <origin xyz="0.096 0.0 0.0" rpy="0 0 0"/>
+      <axis xyz="0 0 1" />
+    </joint>
+
+  </xacro:macro>
+
+<xacro:add_leg prefix="limb0" shoulderxyz="${0.085*cos(0.*3.141592/2.5)} ${0.085*sin(0.*3.141592/2.5)} 0." shoulderrpy="0. 0. ${(0.*3.141592/2.5)}"/>
+<xacro:add_leg prefix="limb1" shoulderxyz="${0.085*cos(1.*3.141592/2.5)} ${0.085*sin(1.*3.141592/2.5)} 0." shoulderrpy="0. 0. ${(1.*3.141592/2.5)}"/>
+<xacro:add_leg prefix="limb2" shoulderxyz="${0.085*cos(2.*3.141592/2.5)} ${0.085*sin(2.*3.141592/2.5)} 0." shoulderrpy="0. 0. ${(2.*3.141592/2.5)}"/>
+<xacro:add_leg prefix="limb3" shoulderxyz="${0.085*cos(3.*3.141592/2.5)} ${0.085*sin(3.*3.141592/2.5)} 0." shoulderrpy="0. 0. ${(3.*3.141592/2.5)}"/>
+<xacro:add_leg prefix="limb4" shoulderxyz="${0.085*cos(4.*3.141592/2.5)} ${0.085*sin(4.*3.141592/2.5)} 0." shoulderrpy="0. 0. ${(4.*3.141592/2.5)}"/>
+
+<xacro:add_base_plate name="upper_plate" stl_file_name="Chassi_top.stl" z="0.03"/>
+<xacro:add_base_plate name="lower_plate" stl_file_name="Chassi_bottom.stl" z="-0.03"/>
+
+</robot>

From f2dfc12a655071faedaaabc35f1d1b4ae56c1008 Mon Sep 17 00:00:00 2001
From: "Safeea, Mohammad" <mohammad.safeea@hilti.com>
Date: Sat, 12 Apr 2025 13:34:58 +0200
Subject: [PATCH 05/58] add collision

---
 penta_description/urdf/penta.urdf.xacro | 12 ++++++++++++
 1 file changed, 12 insertions(+)

diff --git a/penta_description/urdf/penta.urdf.xacro b/penta_description/urdf/penta.urdf.xacro
index 14d1382..05c64a9 100644
--- a/penta_description/urdf/penta.urdf.xacro
+++ b/penta_description/urdf/penta.urdf.xacro
@@ -15,6 +15,12 @@
       </geometry>
       <origin xyz="0.0 0.0 0.0" rpy="0 0 ${base_visual_yaw}"/>
     </visual>
+    <collision>
+      <geometry>
+        <mesh filename="package://penta_description/meshes/visual/penta_stl_v1/Chassi_middle.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <origin xyz="0.0 0.0 0.0" rpy="0 0 ${base_visual_yaw}"/>
+    </collision>
   </link>
 
   <joint name="joint_robot_body_center" type="floating">
@@ -91,6 +97,12 @@
         </geometry>
         <origin xyz="0.0 0.0 0.0" rpy="-${PI2} ${PI2} 0.4"/>
       </visual>
+      <collision>
+        <geometry>
+          <mesh filename="package://penta_description/meshes/visual/penta_stl_v1/Lower_arm.stl" scale="0.001 0.001 0.001"/>
+        </geometry>
+        <origin xyz="0.0 0.0 0.0" rpy="-${PI2} ${PI2} 0.4"/>
+      </collision>
     </link>
 
     <joint name="${prefix}/joint_shoulder_motor" type="fixed">

From 15eb4c98e041ae2c8af451b593b1b47e1e0f2389 Mon Sep 17 00:00:00 2001
From: "Safeea, Mohammad" <mohammad.safeea@hilti.com>
Date: Sat, 12 Apr 2025 13:39:52 +0200
Subject: [PATCH 06/58] revert to old wire frame

---
 penta_description/urdf/wire_frame.urdf.xacro | 53 ++++++--------------
 1 file changed, 15 insertions(+), 38 deletions(-)

diff --git a/penta_description/urdf/wire_frame.urdf.xacro b/penta_description/urdf/wire_frame.urdf.xacro
index 14d1382..ce2c466 100644
--- a/penta_description/urdf/wire_frame.urdf.xacro
+++ b/penta_description/urdf/wire_frame.urdf.xacro
@@ -1,19 +1,15 @@
 <?xml version="1.0"?>
 
 <robot name="penta_bot" xmlns:xacro="http://www.ros.org/wiki/xacro">
-  
-  <xacro:property name="PI" value="3.141592" />
-  <xacro:property name="PI2" value="${PI/2}" />
-  <xacro:property name="base_visual_yaw" value="0.32" />
 
   <link name="base_footprint"/>
 
   <link name="base_link">
     <visual>
       <geometry>
-        <mesh filename="package://penta_description/meshes/visual/penta_stl_v1/Chassi_middle.stl" scale="0.001 0.001 0.001"/>
+        <cylinder radius="0.085" length="0.025"/>
       </geometry>
-      <origin xyz="0.0 0.0 0.0" rpy="0 0 ${base_visual_yaw}"/>
+      <origin xyz="0.0 0.0 0.0" rpy="0 0 0"/>
     </visual>
   </link>
 
@@ -26,7 +22,7 @@
   <link name="head_link">
     <visual>
       <geometry>
-        <sphere radius="0.01"/>
+        <sphere radius="0.05"/>
       </geometry>
       <material name="green">
         <color rgba="0 1 0 1"/>
@@ -39,24 +35,8 @@
     <child link="head_link"/>
     <origin xyz="-0.1 0.0 0.025" rpy="0 0 0"/>
   </joint>
-
-  <xacro:macro name="add_base_plate" params="name stl_file_name z">
-    <link name="${name}_link">
-      <visual>
-        <geometry>
-          <mesh filename="package://penta_description/meshes/visual/penta_stl_v1/${stl_file_name}" scale="0.001 0.001 0.001"/>
-        </geometry>
-        <origin xyz="0.0 0.0 0.0" rpy="0 0 ${base_visual_yaw}"/>
-      </visual>
-    </link>
-    <joint name="${name}_joint" type="fixed">
-      <parent link="base_link"/>
-      <child link="${name}_link"/>
-    <origin xyz="0.0 0.0 ${z}" rpy="0 0 0"/>
-  </joint>
-  </xacro:macro>
     
-  <xacro:macro name="add_leg" params="prefix shoulderxyz shoulderrpy">
+  <xacro:macro name="leg" params="prefix shoulderxyz shoulderrpy">
     <link name="${prefix}_shoulder_motor">
       <visual>
         <geometry>
@@ -69,27 +49,27 @@
     <link name="${prefix}_shoulder_link">
       <visual>
         <geometry>
-          <mesh filename="package://penta_description/meshes/visual/penta_stl_v1/Shoulder.stl" scale="0.001 0.001 0.001"/>
+          <box size="0.0455 0.02 0.02"/>
         </geometry>
-        <origin xyz="0.0 0.0 0.0" rpy="-${PI2} 0 0"/>
+        <origin xyz="0.02275 0.0 0.0" rpy="0 0 0"/>
       </visual>
     </link>
 
     <link name="${prefix}_upper_arm_link">
       <visual>
         <geometry>
-          <mesh filename="package://penta_description/meshes/visual/penta_stl_v1/Upper_arm.stl" scale="0.001 0.001 0.001"/>
+          <box size="0.096 0.02 0.02"/>
         </geometry>
-        <origin xyz="0.0 0.0 0.0" rpy="0 0 0"/>
+        <origin xyz="0.048 0.0 0.0" rpy="0 0 0"/>
       </visual>
     </link>
 
     <link name="${prefix}_lower_arm_link">
       <visual>
         <geometry>
-          <mesh filename="package://penta_description/meshes/visual/penta_stl_v1/Lower_arm.stl" scale="0.001 0.001 0.001"/>
+          <box size="0.158 0.02 0.02"/>
         </geometry>
-        <origin xyz="0.0 0.0 0.0" rpy="-${PI2} ${PI2} 0.4"/>
+        <origin xyz="0.079 0.0 0.0" rpy="0 0 0"/>
       </visual>
     </link>
 
@@ -124,13 +104,10 @@
 
   </xacro:macro>
 
-<xacro:add_leg prefix="limb0" shoulderxyz="${0.085*cos(0.*3.141592/2.5)} ${0.085*sin(0.*3.141592/2.5)} 0." shoulderrpy="0. 0. ${(0.*3.141592/2.5)}"/>
-<xacro:add_leg prefix="limb1" shoulderxyz="${0.085*cos(1.*3.141592/2.5)} ${0.085*sin(1.*3.141592/2.5)} 0." shoulderrpy="0. 0. ${(1.*3.141592/2.5)}"/>
-<xacro:add_leg prefix="limb2" shoulderxyz="${0.085*cos(2.*3.141592/2.5)} ${0.085*sin(2.*3.141592/2.5)} 0." shoulderrpy="0. 0. ${(2.*3.141592/2.5)}"/>
-<xacro:add_leg prefix="limb3" shoulderxyz="${0.085*cos(3.*3.141592/2.5)} ${0.085*sin(3.*3.141592/2.5)} 0." shoulderrpy="0. 0. ${(3.*3.141592/2.5)}"/>
-<xacro:add_leg prefix="limb4" shoulderxyz="${0.085*cos(4.*3.141592/2.5)} ${0.085*sin(4.*3.141592/2.5)} 0." shoulderrpy="0. 0. ${(4.*3.141592/2.5)}"/>
-
-<xacro:add_base_plate name="upper_plate" stl_file_name="Chassi_top.stl" z="0.03"/>
-<xacro:add_base_plate name="lower_plate" stl_file_name="Chassi_bottom.stl" z="-0.03"/>
+<xacro:leg prefix="limb0" shoulderxyz="${0.085*cos(0.*3.141592/2.5)} ${0.085*sin(0.*3.141592/2.5)} 0." shoulderrpy="0. 0. ${(0.*3.141592/2.5)}"/>
+<xacro:leg prefix="limb1" shoulderxyz="${0.085*cos(1.*3.141592/2.5)} ${0.085*sin(1.*3.141592/2.5)} 0." shoulderrpy="0. 0. ${(1.*3.141592/2.5)}"/>
+<xacro:leg prefix="limb2" shoulderxyz="${0.085*cos(2.*3.141592/2.5)} ${0.085*sin(2.*3.141592/2.5)} 0." shoulderrpy="0. 0. ${(2.*3.141592/2.5)}"/>
+<xacro:leg prefix="limb3" shoulderxyz="${0.085*cos(3.*3.141592/2.5)} ${0.085*sin(3.*3.141592/2.5)} 0." shoulderrpy="0. 0. ${(3.*3.141592/2.5)}"/>
+<xacro:leg prefix="limb4" shoulderxyz="${0.085*cos(4.*3.141592/2.5)} ${0.085*sin(4.*3.141592/2.5)} 0." shoulderrpy="0. 0. ${(4.*3.141592/2.5)}"/>
 
 </robot>

From f5975a853fed642815122c8aff907923eb117168 Mon Sep 17 00:00:00 2001
From: "Safeea, Mohammad" <mohammad.safeea@hilti.com>
Date: Sat, 12 Apr 2025 13:40:13 +0200
Subject: [PATCH 07/58] use simple collision model for the base

---
 penta_description/urdf/penta.urdf.xacro | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/penta_description/urdf/penta.urdf.xacro b/penta_description/urdf/penta.urdf.xacro
index 05c64a9..368a6a2 100644
--- a/penta_description/urdf/penta.urdf.xacro
+++ b/penta_description/urdf/penta.urdf.xacro
@@ -17,9 +17,9 @@
     </visual>
     <collision>
       <geometry>
-        <mesh filename="package://penta_description/meshes/visual/penta_stl_v1/Chassi_middle.stl" scale="0.001 0.001 0.001"/>
+        <cylinder radius="0.15" length="0.085"/>
       </geometry>
-      <origin xyz="0.0 0.0 0.0" rpy="0 0 ${base_visual_yaw}"/>
+      <origin xyz="0.0 0.0 0.0" rpy="0 0 0"/>
     </collision>
   </link>
 

From 835db7b2464d97c4e0aeca37dae0d6b7100749ea Mon Sep 17 00:00:00 2001
From: "Safeea, Mohammad" <mohammad.safeea@hilti.com>
Date: Sat, 12 Apr 2025 20:28:37 +0200
Subject: [PATCH 08/58] wip gazebo

---
 penta_description/urdf/penta.urdf.xacro | 25 ++++++++++++++++++
 penta_pod/launch/penta_gazebo.launch.py | 35 +++++++++++++++++++++++++
 penta_pod/launch/penta_rviz.launch.py   | 25 ++++++++++++++----
 3 files changed, 80 insertions(+), 5 deletions(-)
 create mode 100644 penta_pod/launch/penta_gazebo.launch.py

diff --git a/penta_description/urdf/penta.urdf.xacro b/penta_description/urdf/penta.urdf.xacro
index 368a6a2..879b502 100644
--- a/penta_description/urdf/penta.urdf.xacro
+++ b/penta_description/urdf/penta.urdf.xacro
@@ -21,6 +21,11 @@
       </geometry>
       <origin xyz="0.0 0.0 0.0" rpy="0 0 0"/>
     </collision>
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
+      <mass value="1.0"/>
+      <inertia ixx="1.0" ixy="0" ixz="0" iyy="1.0" iyz="0" izz="1.0"/>
+    </inertial>
   </link>
 
   <joint name="joint_robot_body_center" type="floating">
@@ -70,6 +75,11 @@
         </geometry>
         <origin xyz="0.0 0.0 0.0" rpy="0 0 0"/>
       </visual>
+      <inertial>
+        <origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
+        <mass value="1.0"/>
+        <inertia ixx="1.0" ixy="0" ixz="0" iyy="1.0" iyz="0" izz="1.0"/>
+      </inertial>
     </link>
 
     <link name="${prefix}_shoulder_link">
@@ -79,6 +89,11 @@
         </geometry>
         <origin xyz="0.0 0.0 0.0" rpy="-${PI2} 0 0"/>
       </visual>
+      <inertial>
+        <origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
+        <mass value="1.0"/>
+        <inertia ixx="1.0" ixy="0" ixz="0" iyy="1.0" iyz="0" izz="1.0"/>
+      </inertial>
     </link>
 
     <link name="${prefix}_upper_arm_link">
@@ -88,6 +103,11 @@
         </geometry>
         <origin xyz="0.0 0.0 0.0" rpy="0 0 0"/>
       </visual>
+      <inertial>
+        <origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
+        <mass value="1.0"/>
+        <inertia ixx="1.0" ixy="0" ixz="0" iyy="1.0" iyz="0" izz="1.0"/>
+      </inertial>
     </link>
 
     <link name="${prefix}_lower_arm_link">
@@ -103,6 +123,11 @@
         </geometry>
         <origin xyz="0.0 0.0 0.0" rpy="-${PI2} ${PI2} 0.4"/>
       </collision>
+      <inertial>
+        <origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
+        <mass value="1.0"/>
+        <inertia ixx="1.0" ixy="0" ixz="0" iyy="1.0" iyz="0" izz="1.0"/>
+      </inertial>
     </link>
 
     <joint name="${prefix}/joint_shoulder_motor" type="fixed">
diff --git a/penta_pod/launch/penta_gazebo.launch.py b/penta_pod/launch/penta_gazebo.launch.py
new file mode 100644
index 0000000..cf4537d
--- /dev/null
+++ b/penta_pod/launch/penta_gazebo.launch.py
@@ -0,0 +1,35 @@
+from launch import LaunchDescription
+from launch_ros.actions import Node
+from launch.actions import IncludeLaunchDescription
+from launch.launch_description_sources import PythonLaunchDescriptionSource
+from ament_index_python.packages import get_package_share_directory
+import os
+
+def generate_launch_description():
+    # RVIZ launch file
+    penta_rviz_launch = IncludeLaunchDescription(
+        PythonLaunchDescriptionSource(
+            os.path.join(get_package_share_directory('penta_pod'), 'launch', 'penta_sim_full_rviz.launch.py')
+        )
+    )
+    # Gazebo ros2 node
+    gazebo_ros = IncludeLaunchDescription(
+            PythonLaunchDescriptionSource([os.path.join(
+                get_package_share_directory('gazebo_ros'), 'launch', 'gazebo.launch.py')]),
+    )
+    # Gazebo launch file
+    spawn_robot = Node(
+        package='gazebo_ros',
+        executable='spawn_entity.py',
+        name='spawn_robot',
+        output='screen',
+        arguments=[
+            '-entity', 'penta_pod',
+            '-topic', '/robot_description',
+        ]
+    )
+    return LaunchDescription([
+        penta_rviz_launch,
+        gazebo_ros,
+        spawn_robot
+    ])
diff --git a/penta_pod/launch/penta_rviz.launch.py b/penta_pod/launch/penta_rviz.launch.py
index 6b8185e..44b8952 100644
--- a/penta_pod/launch/penta_rviz.launch.py
+++ b/penta_pod/launch/penta_rviz.launch.py
@@ -8,6 +8,24 @@
 from launch.substitutions import Command, LaunchConfiguration
 from launch import LaunchDescription
 import os
+import subprocess
+
+def load_penta_pod_urdf():
+    pkg_share = get_package_share_directory('penta_description')
+    xacro_path = os.path.join(
+        pkg_share,
+        'urdf',
+        'penta.urdf.xacro'
+    )
+    xacro_cmd = ['xacro', xacro_path]
+    completed_process = subprocess.run(xacro_cmd, text=True, capture_output=True)
+    if completed_process.returncode != 0:
+        raise RuntimeError(f"Command '{' '.join(xacro_cmd)}' failed with error code {completed_process.returncode}")
+    urdf_text = completed_process.stdout
+    hard_path = f"file://{pkg_share}"
+    urdf_remove_relatvie_path = urdf_text.replace('package://penta_description', hard_path)
+    return urdf_remove_relatvie_path 
+
 
 # This is a launch rviz2 on a laptop for the toperware_bot
 def generate_launch_description():
@@ -18,10 +36,8 @@ def generate_launch_description():
         "urdf",
         "penta.urdf.xacro",
     )
-    model_arg = DeclareLaunchArgument(name='model', default_value=str(urdf_path),
-                                      description='Absolute path to robot urdf file')
-    robot_description = ParameterValue(Command(['xacro ', LaunchConfiguration('model')]),
-                                       value_type=str)
+    robot_description = load_penta_pod_urdf()
+    print("robot_description: ", robot_description)
     return LaunchDescription([
         DeclareLaunchArgument(
             'config_file',
@@ -35,7 +51,6 @@ def generate_launch_description():
             output='screen',
             arguments=['-d', LaunchConfiguration('config_file')]
         ),
-        model_arg,
         Node(
             package='robot_state_publisher',
             executable='robot_state_publisher',

From f9ea1bc082059f9596729ecdbb677141ee60c750 Mon Sep 17 00:00:00 2001
From: "Safeea, Mohammad" <mohammad.safeea@hilti.com>
Date: Sun, 13 Apr 2025 09:08:05 +0200
Subject: [PATCH 09/58] wip

---
 penta_description/urdf/penta.urdf.xacro | 24 ++++++++++++++++++++----
 1 file changed, 20 insertions(+), 4 deletions(-)

diff --git a/penta_description/urdf/penta.urdf.xacro b/penta_description/urdf/penta.urdf.xacro
index 879b502..daa8a8d 100644
--- a/penta_description/urdf/penta.urdf.xacro
+++ b/penta_description/urdf/penta.urdf.xacro
@@ -6,6 +6,18 @@
   <xacro:property name="PI2" value="${PI/2}" />
   <xacro:property name="base_visual_yaw" value="0.32" />
 
+  <xacro:macro name="add_material_green">
+      <material name="green">
+        <color rgba="0 1 0 1"/>
+      </material>
+  </xacro:macro>
+
+  <xacro:macro name="add_material_red">
+      <material name="red">
+        <color rgba="1 0 0 1"/>
+      </material>
+  </xacro:macro>
+
   <link name="base_footprint"/>
 
   <link name="base_link">
@@ -14,6 +26,7 @@
         <mesh filename="package://penta_description/meshes/visual/penta_stl_v1/Chassi_middle.stl" scale="0.001 0.001 0.001"/>
       </geometry>
       <origin xyz="0.0 0.0 0.0" rpy="0 0 ${base_visual_yaw}"/>
+      <xacro:add_material_red/>
     </visual>
     <collision>
       <geometry>
@@ -28,7 +41,7 @@
     </inertial>
   </link>
 
-  <joint name="joint_robot_body_center" type="floating">
+  <joint name="joint_robot_body_center" type="fixed">
     <parent link="base_footprint"/>
     <child link="base_link"/>
     <origin xyz="0.0 0.0 0.075" rpy="0 0 0"/>
@@ -39,9 +52,7 @@
       <geometry>
         <sphere radius="0.01"/>
       </geometry>
-      <material name="green">
-        <color rgba="0 1 0 1"/>
-      </material>
+      <xacro:add_material_green/>
     </visual>
   </link>
 
@@ -58,6 +69,7 @@
           <mesh filename="package://penta_description/meshes/visual/penta_stl_v1/${stl_file_name}" scale="0.001 0.001 0.001"/>
         </geometry>
         <origin xyz="0.0 0.0 0.0" rpy="0 0 ${base_visual_yaw}"/>
+        <xacro:add_material_red/>
       </visual>
     </link>
     <joint name="${name}_joint" type="fixed">
@@ -74,6 +86,7 @@
           <cylinder radius="0.0350" length="0.035"/>
         </geometry>
         <origin xyz="0.0 0.0 0.0" rpy="0 0 0"/>
+        <xacro:add_material_red/>
       </visual>
       <inertial>
         <origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
@@ -88,6 +101,7 @@
           <mesh filename="package://penta_description/meshes/visual/penta_stl_v1/Shoulder.stl" scale="0.001 0.001 0.001"/>
         </geometry>
         <origin xyz="0.0 0.0 0.0" rpy="-${PI2} 0 0"/>
+        <xacro:add_material_red/>
       </visual>
       <inertial>
         <origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
@@ -102,6 +116,7 @@
           <mesh filename="package://penta_description/meshes/visual/penta_stl_v1/Upper_arm.stl" scale="0.001 0.001 0.001"/>
         </geometry>
         <origin xyz="0.0 0.0 0.0" rpy="0 0 0"/>
+        <xacro:add_material_red/>
       </visual>
       <inertial>
         <origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
@@ -116,6 +131,7 @@
           <mesh filename="package://penta_description/meshes/visual/penta_stl_v1/Lower_arm.stl" scale="0.001 0.001 0.001"/>
         </geometry>
         <origin xyz="0.0 0.0 0.0" rpy="-${PI2} ${PI2} 0.4"/>
+        <xacro:add_material_red/>
       </visual>
       <collision>
         <geometry>

From 5bf8e90f6ea807635325f9d74bf313e6c4413540 Mon Sep 17 00:00:00 2001
From: "Safeea, Mohammad" <mohammad.safeea@hilti.com>
Date: Sun, 13 Apr 2025 09:45:00 +0200
Subject: [PATCH 10/58] move limb macro into separate file

---
 penta_description/urdf/penta.urdf.xacro       | 99 +------------------
 penta_description/urdf/single_limb.urdf.xacro | 81 ++++++++-------
 2 files changed, 47 insertions(+), 133 deletions(-)

diff --git a/penta_description/urdf/penta.urdf.xacro b/penta_description/urdf/penta.urdf.xacro
index daa8a8d..8348f4e 100644
--- a/penta_description/urdf/penta.urdf.xacro
+++ b/penta_description/urdf/penta.urdf.xacro
@@ -6,6 +6,8 @@
   <xacro:property name="PI2" value="${PI/2}" />
   <xacro:property name="base_visual_yaw" value="0.32" />
 
+  <xacro:include filename="$(find penta_description)/urdf/single_limb.urdf.xacro" />
+
   <xacro:macro name="add_material_green">
       <material name="green">
         <color rgba="0 1 0 1"/>
@@ -79,103 +81,6 @@
   </joint>
   </xacro:macro>
     
-  <xacro:macro name="add_leg" params="prefix shoulderxyz shoulderrpy">
-    <link name="${prefix}_shoulder_motor">
-      <visual>
-        <geometry>
-          <cylinder radius="0.0350" length="0.035"/>
-        </geometry>
-        <origin xyz="0.0 0.0 0.0" rpy="0 0 0"/>
-        <xacro:add_material_red/>
-      </visual>
-      <inertial>
-        <origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
-        <mass value="1.0"/>
-        <inertia ixx="1.0" ixy="0" ixz="0" iyy="1.0" iyz="0" izz="1.0"/>
-      </inertial>
-    </link>
-
-    <link name="${prefix}_shoulder_link">
-      <visual>
-        <geometry>
-          <mesh filename="package://penta_description/meshes/visual/penta_stl_v1/Shoulder.stl" scale="0.001 0.001 0.001"/>
-        </geometry>
-        <origin xyz="0.0 0.0 0.0" rpy="-${PI2} 0 0"/>
-        <xacro:add_material_red/>
-      </visual>
-      <inertial>
-        <origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
-        <mass value="1.0"/>
-        <inertia ixx="1.0" ixy="0" ixz="0" iyy="1.0" iyz="0" izz="1.0"/>
-      </inertial>
-    </link>
-
-    <link name="${prefix}_upper_arm_link">
-      <visual>
-        <geometry>
-          <mesh filename="package://penta_description/meshes/visual/penta_stl_v1/Upper_arm.stl" scale="0.001 0.001 0.001"/>
-        </geometry>
-        <origin xyz="0.0 0.0 0.0" rpy="0 0 0"/>
-        <xacro:add_material_red/>
-      </visual>
-      <inertial>
-        <origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
-        <mass value="1.0"/>
-        <inertia ixx="1.0" ixy="0" ixz="0" iyy="1.0" iyz="0" izz="1.0"/>
-      </inertial>
-    </link>
-
-    <link name="${prefix}_lower_arm_link">
-      <visual>
-        <geometry>
-          <mesh filename="package://penta_description/meshes/visual/penta_stl_v1/Lower_arm.stl" scale="0.001 0.001 0.001"/>
-        </geometry>
-        <origin xyz="0.0 0.0 0.0" rpy="-${PI2} ${PI2} 0.4"/>
-        <xacro:add_material_red/>
-      </visual>
-      <collision>
-        <geometry>
-          <mesh filename="package://penta_description/meshes/visual/penta_stl_v1/Lower_arm.stl" scale="0.001 0.001 0.001"/>
-        </geometry>
-        <origin xyz="0.0 0.0 0.0" rpy="-${PI2} ${PI2} 0.4"/>
-      </collision>
-      <inertial>
-        <origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
-        <mass value="1.0"/>
-        <inertia ixx="1.0" ixy="0" ixz="0" iyy="1.0" iyz="0" izz="1.0"/>
-      </inertial>
-    </link>
-
-    <joint name="${prefix}/joint_shoulder_motor" type="fixed">
-      <parent link="base_link"/>
-      <child link="${prefix}_shoulder_motor"/>
-      <origin xyz="${shoulderxyz}" rpy="${shoulderrpy}"/>
-    </joint>
-
-
-    <joint name="${prefix}/joint0" type="continuous">
-      <parent link="${prefix}_shoulder_motor"/>
-      <child link="${prefix}_shoulder_link"/>
-      <origin xyz="0.0 0.0 0.0" rpy="0 0 0"/>
-      <axis xyz="0 0 1" />
-    </joint>
-
-    <joint name="${prefix}/joint1" type="continuous">
-      <parent link="${prefix}_shoulder_link"/>
-      <child link="${prefix}_upper_arm_link"/>
-      <origin xyz="0.0455 0.0 0.0" rpy="-1.57 0 0"/>
-      <axis xyz="0 0 1" />
-    </joint>
-
-
-    <joint name="${prefix}/joint2" type="continuous">
-      <parent link="${prefix}_upper_arm_link"/>
-      <child link="${prefix}_lower_arm_link"/>
-      <origin xyz="0.096 0.0 0.0" rpy="0 0 0"/>
-      <axis xyz="0 0 1" />
-    </joint>
-
-  </xacro:macro>
 
 <xacro:add_leg prefix="limb0" shoulderxyz="${0.085*cos(0.*3.141592/2.5)} ${0.085*sin(0.*3.141592/2.5)} 0." shoulderrpy="0. 0. ${(0.*3.141592/2.5)}"/>
 <xacro:add_leg prefix="limb1" shoulderxyz="${0.085*cos(1.*3.141592/2.5)} ${0.085*sin(1.*3.141592/2.5)} 0." shoulderrpy="0. 0. ${(1.*3.141592/2.5)}"/>
diff --git a/penta_description/urdf/single_limb.urdf.xacro b/penta_description/urdf/single_limb.urdf.xacro
index 5eada8a..e2d2c38 100644
--- a/penta_description/urdf/single_limb.urdf.xacro
+++ b/penta_description/urdf/single_limb.urdf.xacro
@@ -1,94 +1,103 @@
 <?xml version="1.0"?>
 
-<robot name="penta_bot" xmlns:xacro="http://www.ros.org/wiki/xacro">
+<robot xmlns:xacro="http://www.ros.org/wiki/xacro">
 
-  <link name="base_footprint"/>
-
-  <link name="base_link">
-    <visual>
-      <geometry>
-        <cylinder radius="0.10" length="0.025"/>
-      </geometry>
-      <origin xyz="0.0 0.0 0.0" rpy="0 0 0"/>
-    </visual>
-  </link>
-
-  <joint name="joint_robot_body_center" type="fixed">
-    <parent link="base_footprint"/>
-    <child link="base_link"/>
-    <origin xyz="0.0 0.0 0.05" rpy="0 0 0"/>
-  </joint>
-
-  <xacro:macro name="leg" params="prefix">
+  <xacro:macro name="add_leg" params="prefix shoulderxyz shoulderrpy">
     <link name="${prefix}_shoulder_motor">
       <visual>
         <geometry>
           <cylinder radius="0.0350" length="0.035"/>
         </geometry>
         <origin xyz="0.0 0.0 0.0" rpy="0 0 0"/>
+        <xacro:add_material_red/>
       </visual>
+      <inertial>
+        <origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
+        <mass value="1.0"/>
+        <inertia ixx="1.0" ixy="0" ixz="0" iyy="1.0" iyz="0" izz="1.0"/>
+      </inertial>
     </link>
 
     <link name="${prefix}_shoulder_link">
       <visual>
         <geometry>
-          <box size="0.1 0.02 0.02"/>
+          <mesh filename="package://penta_description/meshes/visual/penta_stl_v1/Shoulder.stl" scale="0.001 0.001 0.001"/>
         </geometry>
-        <origin xyz="0.05 0.0 0.0" rpy="0 0 0"/>
+        <origin xyz="0.0 0.0 0.0" rpy="-${PI2} 0 0"/>
+        <xacro:add_material_red/>
       </visual>
+      <inertial>
+        <origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
+        <mass value="1.0"/>
+        <inertia ixx="1.0" ixy="0" ixz="0" iyy="1.0" iyz="0" izz="1.0"/>
+      </inertial>
     </link>
 
     <link name="${prefix}_upper_arm_link">
       <visual>
         <geometry>
-          <box size="0.1 0.02 0.02"/>
+          <mesh filename="package://penta_description/meshes/visual/penta_stl_v1/Upper_arm.stl" scale="0.001 0.001 0.001"/>
         </geometry>
-        <origin xyz="0.05 0.0 0.0" rpy="0 0 0"/>
+        <origin xyz="0.0 0.0 0.0" rpy="0 0 0"/>
+        <xacro:add_material_red/>
       </visual>
+      <inertial>
+        <origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
+        <mass value="1.0"/>
+        <inertia ixx="1.0" ixy="0" ixz="0" iyy="1.0" iyz="0" izz="1.0"/>
+      </inertial>
     </link>
 
     <link name="${prefix}_lower_arm_link">
       <visual>
         <geometry>
-          <box size="0.1 0.02 0.02"/>
+          <mesh filename="package://penta_description/meshes/visual/penta_stl_v1/Lower_arm.stl" scale="0.001 0.001 0.001"/>
         </geometry>
-        <origin xyz="0.05 0.0 0.0" rpy="0 0 0"/>
+        <origin xyz="0.0 0.0 0.0" rpy="-${PI2} ${PI2} 0.4"/>
+        <xacro:add_material_red/>
       </visual>
+      <collision>
+        <geometry>
+          <mesh filename="package://penta_description/meshes/visual/penta_stl_v1/Lower_arm.stl" scale="0.001 0.001 0.001"/>
+        </geometry>
+        <origin xyz="0.0 0.0 0.0" rpy="-${PI2} ${PI2} 0.4"/>
+      </collision>
+      <inertial>
+        <origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
+        <mass value="1.0"/>
+        <inertia ixx="1.0" ixy="0" ixz="0" iyy="1.0" iyz="0" izz="1.0"/>
+      </inertial>
     </link>
 
-    <joint name="${prefix}_joint_shoulder_motor" type="fixed">
+    <joint name="${prefix}/joint_shoulder_motor" type="fixed">
       <parent link="base_link"/>
       <child link="${prefix}_shoulder_motor"/>
-      <origin xyz="0.1 0.0 0.0" rpy="0 0 0"/>
+      <origin xyz="${shoulderxyz}" rpy="${shoulderrpy}"/>
     </joint>
 
 
-    <joint name="${prefix}_joint0" type="continuous">
+    <joint name="${prefix}/joint0" type="continuous">
       <parent link="${prefix}_shoulder_motor"/>
       <child link="${prefix}_shoulder_link"/>
       <origin xyz="0.0 0.0 0.0" rpy="0 0 0"/>
       <axis xyz="0 0 1" />
     </joint>
 
-    <joint name="${prefix}_joint1" type="continuous">
+    <joint name="${prefix}/joint1" type="continuous">
       <parent link="${prefix}_shoulder_link"/>
       <child link="${prefix}_upper_arm_link"/>
-      <origin xyz="0.1 0.0 0.0" rpy="-1.57 0 0"/>
+      <origin xyz="0.0455 0.0 0.0" rpy="-1.57 0 0"/>
       <axis xyz="0 0 1" />
     </joint>
 
 
-    <joint name="${prefix}_joint2" type="continuous">
+    <joint name="${prefix}/joint2" type="continuous">
       <parent link="${prefix}_upper_arm_link"/>
       <child link="${prefix}_lower_arm_link"/>
-      <origin xyz="0.1 0.0 0.0" rpy="0 0 0"/>
+      <origin xyz="0.096 0.0 0.0" rpy="0 0 0"/>
       <axis xyz="0 0 1" />
     </joint>
 
   </xacro:macro>
 
-  <xacro:leg prefix="limb0" />
-
-
-
 </robot>

From ab75ed359c66b58ccf3d215581dfab5d8478476d Mon Sep 17 00:00:00 2001
From: "Safeea, Mohammad" <mohammad.safeea@hilti.com>
Date: Mon, 14 Apr 2025 23:18:15 +0200
Subject: [PATCH 11/58] gazebo sim

---
 penta_description/README.md                   | 28 +++++-
 .../config/ros2_control_params.yaml           | 43 +++++++++
 .../launch/robot_state_publisher.launch.py    | 44 ++++++++++
 penta_description/urdf/penta.urdf.xacro       |  6 ++
 penta_description/urdf/single_limb.urdf.xacro | 57 ++++++++++++
 penta_pod/launch/penta_gazebo.launch.py       | 88 +++++++++++++++----
 penta_pod/launch/penta_rviz.launch.py         | 42 +++------
 7 files changed, 256 insertions(+), 52 deletions(-)
 create mode 100644 penta_description/config/ros2_control_params.yaml
 create mode 100644 penta_description/launch/robot_state_publisher.launch.py

diff --git a/penta_description/README.md b/penta_description/README.md
index 4cdac71..8bf1ea2 100644
--- a/penta_description/README.md
+++ b/penta_description/README.md
@@ -25,4 +25,30 @@ To run rviz:
 
 ```
 ros2 launch penta_description penta_rviz.launch.py
-```
\ No newline at end of file
+```
+
+
+## Move the joints in gazebo simulation
+
+
+```
+ros2 action send_goal /joint_trajectory_controller/follow_joint_trajectory control_msgs/action/FollowJointTrajectory "{ 
+  trajectory: {
+    header: {
+      stamp: {sec: 0, nanosec: 0},
+      frame_id: ''
+    },
+    joint_names: ['limb0/joint0', 'limb0/joint2'],
+    points: [
+      {
+        positions: [1.0, 0.5],
+        velocities: [0.0, 0.0],
+        time_from_start: {sec: 2, nanosec: 0}
+      }
+    ]
+  },
+  path_tolerance: [],
+  goal_tolerance: [],
+  goal_time_tolerance: {sec: 1, nanosec: 0}
+}"
+```
diff --git a/penta_description/config/ros2_control_params.yaml b/penta_description/config/ros2_control_params.yaml
new file mode 100644
index 0000000..91d26de
--- /dev/null
+++ b/penta_description/config/ros2_control_params.yaml
@@ -0,0 +1,43 @@
+controller_manager:
+  ros__parameters:
+    update_rate: 100
+
+    joint_trajectory_controller:
+      type: joint_trajectory_controller/JointTrajectoryController
+
+    joint_state_broadcaster:
+      type: joint_state_broadcaster/JointStateBroadcaster
+
+joint_trajectory_controller:
+  ros__parameters:
+    joints:
+      - limb0/joint0
+      - limb0/joint1
+      - limb0/joint2
+      - limb1/joint0
+      - limb1/joint1
+      - limb1/joint2
+      - limb2/joint0
+      - limb2/joint1
+      - limb2/joint2
+      - limb3/joint0
+      - limb3/joint1
+      - limb3/joint2
+      - limb4/joint0
+      - limb4/joint1
+      - limb4/joint2
+    interface_name: position
+    command_interfaces:
+      - position
+    state_interfaces:
+      - position
+      - velocity
+    allow_partial_joints_goal: true
+    # open_loop_control: true
+    # constraints:
+    #   goal_time: 2.0
+    #   stopped_velocity_tolerance: 0.01
+    #   leg1/joint0:
+    #     trajectory: 0.2
+    #     goal: 0.1
+      # ... Add constraints for each joint as needed
diff --git a/penta_description/launch/robot_state_publisher.launch.py b/penta_description/launch/robot_state_publisher.launch.py
new file mode 100644
index 0000000..6f8e171
--- /dev/null
+++ b/penta_description/launch/robot_state_publisher.launch.py
@@ -0,0 +1,44 @@
+from launch.actions import DeclareLaunchArgument
+from launch.substitutions import LaunchConfiguration
+from launch_ros.actions import Node
+from launch.substitutions import PathJoinSubstitution
+from launch_ros.substitutions import FindPackageShare
+from ament_index_python.packages import get_package_share_directory
+from launch_ros.parameter_descriptions import ParameterValue
+from launch.substitutions import Command, LaunchConfiguration
+from launch import LaunchDescription
+import os
+import subprocess
+
+def load_penta_pod_urdf():
+    pkg_share = get_package_share_directory('penta_description')
+    xacro_path = os.path.join(
+        pkg_share,
+        'urdf',
+        'penta.urdf.xacro'
+    )
+    xacro_cmd = ['xacro', xacro_path]
+    completed_process = subprocess.run(xacro_cmd, text=True, capture_output=True)
+    if completed_process.returncode != 0:
+        raise RuntimeError(f"Command '{' '.join(xacro_cmd)}' failed with error code {completed_process.returncode}")
+    urdf_text = completed_process.stdout
+    hard_path = f"file://{pkg_share}"
+    urdf_remove_relatvie_path = urdf_text.replace('package://penta_description', hard_path)
+    return urdf_remove_relatvie_path 
+
+
+# This is a launch rviz2 on a laptop for the toperware_bot
+def generate_launch_description():
+    robot_description = load_penta_pod_urdf()
+    print("robot_description: ", robot_description)
+    return LaunchDescription([
+        Node(
+            package='robot_state_publisher',
+            executable='robot_state_publisher',
+            name='robot_state_publisher',
+            output='screen',
+            parameters=[
+                {'robot_description': robot_description}
+            ],
+        ),
+    ])
\ No newline at end of file
diff --git a/penta_description/urdf/penta.urdf.xacro b/penta_description/urdf/penta.urdf.xacro
index 8348f4e..ed23a32 100644
--- a/penta_description/urdf/penta.urdf.xacro
+++ b/penta_description/urdf/penta.urdf.xacro
@@ -91,4 +91,10 @@
 <xacro:add_base_plate name="upper_plate" stl_file_name="Chassi_top.stl" z="0.03"/>
 <xacro:add_base_plate name="lower_plate" stl_file_name="Chassi_bottom.stl" z="-0.03"/>
 
+<gazebo>
+  <plugin filename="libgazebo_ros2_control.so" name="gazebo_ros2_control" >
+    <parameters>$(find penta_description)/config/ros2_control_params.yaml</parameters>
+  </plugin>
+</gazebo>
+
 </robot>
diff --git a/penta_description/urdf/single_limb.urdf.xacro b/penta_description/urdf/single_limb.urdf.xacro
index e2d2c38..bcb10cd 100644
--- a/penta_description/urdf/single_limb.urdf.xacro
+++ b/penta_description/urdf/single_limb.urdf.xacro
@@ -98,6 +98,63 @@
       <axis xyz="0 0 1" />
     </joint>
 
+    <!-- ros2_control interfaces for each joint -->
+    <ros2_control name="${prefix}_ros2_control" type="system">
+      <hardware>
+        <plugin>gazebo_ros2_control/GazeboSystem</plugin>
+      </hardware>
+
+      <joint name="${prefix}/joint0">
+        <command_interface name="position"/>
+        <state_interface name="position"/>
+        <state_interface name="velocity"/>
+      </joint>
+      <joint name="${prefix}/joint1">
+        <command_interface name="position"/>
+        <state_interface name="position"/>
+        <state_interface name="velocity"/>
+      </joint>
+      <joint name="${prefix}/joint2">
+        <command_interface name="position"/>
+        <state_interface name="position"/>
+        <state_interface name="velocity"/>
+      </joint>
+    </ros2_control>
+
+    <!-- Transmission blocks -->
+    <transmission name="${prefix}_joint0_trans">
+      <type>transmission_interface/SimpleTransmission</type>
+      <joint name="${prefix}/joint0">
+        <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
+      </joint>
+      <actuator name="${prefix}_motor0">
+        <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
+        <mechanicalReduction>1</mechanicalReduction>
+      </actuator>
+    </transmission>
+
+    <transmission name="${prefix}_joint1_trans">
+      <type>transmission_interface/SimpleTransmission</type>
+      <joint name="${prefix}/joint1">
+        <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
+      </joint>
+      <actuator name="${prefix}_motor1">
+        <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
+        <mechanicalReduction>1</mechanicalReduction>
+      </actuator>
+    </transmission>
+
+    <transmission name="${prefix}_joint2_trans">
+      <type>transmission_interface/SimpleTransmission</type>
+      <joint name="${prefix}/joint2">
+        <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
+      </joint>
+      <actuator name="${prefix}_motor2">
+        <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
+        <mechanicalReduction>1</mechanicalReduction>
+      </actuator>
+    </transmission>
+
   </xacro:macro>
 
 </robot>
diff --git a/penta_pod/launch/penta_gazebo.launch.py b/penta_pod/launch/penta_gazebo.launch.py
index cf4537d..156ab30 100644
--- a/penta_pod/launch/penta_gazebo.launch.py
+++ b/penta_pod/launch/penta_gazebo.launch.py
@@ -1,35 +1,85 @@
 from launch import LaunchDescription
 from launch_ros.actions import Node
-from launch.actions import IncludeLaunchDescription
+from launch.actions import (
+    ExecuteProcess,
+    IncludeLaunchDescription,
+    RegisterEventHandler,
+)
 from launch.launch_description_sources import PythonLaunchDescriptionSource
+from launch.event_handlers import OnProcessExit
 from ament_index_python.packages import get_package_share_directory
 import os
 
+
 def generate_launch_description():
-    # RVIZ launch file
+    # Paths
+    penta_pkg = get_package_share_directory("penta_pod")
+    gazebo_ros_pkg = get_package_share_directory("gazebo_ros")
+
+    # RViz
     penta_rviz_launch = IncludeLaunchDescription(
         PythonLaunchDescriptionSource(
-            os.path.join(get_package_share_directory('penta_pod'), 'launch', 'penta_sim_full_rviz.launch.py')
+            os.path.join(penta_pkg, "launch", "penta_sim_full_rviz.launch.py")
         )
     )
-    # Gazebo ros2 node
+
+    # Gazebo
     gazebo_ros = IncludeLaunchDescription(
-            PythonLaunchDescriptionSource([os.path.join(
-                get_package_share_directory('gazebo_ros'), 'launch', 'gazebo.launch.py')]),
+        PythonLaunchDescriptionSource(
+            os.path.join(gazebo_ros_pkg, "launch", "gazebo.launch.py")
+        )
     )
-    # Gazebo launch file
+
+    # Spawn robot into Gazebo
     spawn_robot = Node(
-        package='gazebo_ros',
-        executable='spawn_entity.py',
-        name='spawn_robot',
-        output='screen',
-        arguments=[
-            '-entity', 'penta_pod',
-            '-topic', '/robot_description',
+        package="gazebo_ros",
+        executable="spawn_entity.py",
+        name="spawn_robot",
+        output="screen",
+        arguments=["-entity", "penta_pod", "-topic", "/robot_description"],
+    )
+
+    # ros2_control
+    load_joint_state_controller = ExecuteProcess(
+        cmd=[
+            "ros2",
+            "control",
+            "load_controller",
+            "--set-state",
+            "active",
+            "joint_state_broadcaster",
+        ],
+        output="screen",
+    )
+
+    load_joint_trajectory_controller = ExecuteProcess(
+        cmd=[
+            "ros2",
+            "control",
+            "load_controller",
+            "--set-state",
+            "active",
+            "joint_trajectory_controller",
+        ],
+        output="screen",
+    )
+
+    return LaunchDescription(
+        [
+            RegisterEventHandler(
+                event_handler=OnProcessExit(
+                    target_action=spawn_robot,
+                    on_exit=[load_joint_state_controller],
+                )
+            ),
+            RegisterEventHandler(
+                event_handler=OnProcessExit(
+                    target_action=load_joint_state_controller,
+                    on_exit=[load_joint_trajectory_controller],
+                )
+            ),
+            penta_rviz_launch,
+            gazebo_ros,
+            spawn_robot,
         ]
     )
-    return LaunchDescription([
-        penta_rviz_launch,
-        gazebo_ros,
-        spawn_robot
-    ])
diff --git a/penta_pod/launch/penta_rviz.launch.py b/penta_pod/launch/penta_rviz.launch.py
index 44b8952..0d7e761 100644
--- a/penta_pod/launch/penta_rviz.launch.py
+++ b/penta_pod/launch/penta_rviz.launch.py
@@ -8,36 +8,22 @@
 from launch.substitutions import Command, LaunchConfiguration
 from launch import LaunchDescription
 import os
-import subprocess
-
-def load_penta_pod_urdf():
-    pkg_share = get_package_share_directory('penta_description')
-    xacro_path = os.path.join(
-        pkg_share,
-        'urdf',
-        'penta.urdf.xacro'
-    )
-    xacro_cmd = ['xacro', xacro_path]
-    completed_process = subprocess.run(xacro_cmd, text=True, capture_output=True)
-    if completed_process.returncode != 0:
-        raise RuntimeError(f"Command '{' '.join(xacro_cmd)}' failed with error code {completed_process.returncode}")
-    urdf_text = completed_process.stdout
-    hard_path = f"file://{pkg_share}"
-    urdf_remove_relatvie_path = urdf_text.replace('package://penta_description', hard_path)
-    return urdf_remove_relatvie_path 
+from launch.actions import IncludeLaunchDescription
+from launch.launch_description_sources import PythonLaunchDescriptionSource
 
 
 # This is a launch rviz2 on a laptop for the toperware_bot
 def generate_launch_description():
     rviz_config_file = PathJoinSubstitution(
         [FindPackageShare('penta_description'), 'config', 'penta.rviz'])
-    urdf_path = os.path.join(
-        get_package_share_directory("penta_description"),
-        "urdf",
-        "penta.urdf.xacro",
+    penta_description_pkg = get_package_share_directory("penta_description")
+
+    # RViz
+    robot_state_publisher_launch = IncludeLaunchDescription(
+        PythonLaunchDescriptionSource(
+            os.path.join(penta_description_pkg, "launch", "robot_state_publisher.launch.py")
+        )
     )
-    robot_description = load_penta_pod_urdf()
-    print("robot_description: ", robot_description)
     return LaunchDescription([
         DeclareLaunchArgument(
             'config_file',
@@ -51,13 +37,5 @@ def generate_launch_description():
             output='screen',
             arguments=['-d', LaunchConfiguration('config_file')]
         ),
-        Node(
-            package='robot_state_publisher',
-            executable='robot_state_publisher',
-            name='robot_state_publisher',
-            output='screen',
-            parameters=[
-                {'robot_description': robot_description}
-            ],
-        ),
+        robot_state_publisher_launch,
     ])
\ No newline at end of file

From d8a2ed3efea688af58d6367d3a7bc024cfb2a7d2 Mon Sep 17 00:00:00 2001
From: "Safeea, Mohammad" <mohammad.safeea@hilti.com>
Date: Sun, 20 Apr 2025 09:39:19 +0200
Subject: [PATCH 12/58] expose topics through remappings

---
 base_twerk/launch/base_twerk_action_server.launch.py | 4 ++++
 1 file changed, 4 insertions(+)

diff --git a/base_twerk/launch/base_twerk_action_server.launch.py b/base_twerk/launch/base_twerk_action_server.launch.py
index 90081e3..c0fc5ba 100644
--- a/base_twerk/launch/base_twerk_action_server.launch.py
+++ b/base_twerk/launch/base_twerk_action_server.launch.py
@@ -17,6 +17,10 @@ def generate_launch_description():
             executable="base_twerk_action_server_node",
             output="screen",
             parameters=[config],
+            remappings=[
+                ("cmd_null_setpoint", "/cmd_null_setpoint"),
+                ("get_current_null_pose", "/get_current_null_pose"),
+            ]
         )
     )
     return ld

From 7573dc4a635cb1cad1bf587a42cc19cbdc28a408 Mon Sep 17 00:00:00 2001
From: "Safeea, Mohammad" <mohammad.safeea@hilti.com>
Date: Mon, 21 Apr 2025 00:51:14 +0200
Subject: [PATCH 13/58] jooint command renamed to joint_setpoints

---
 .../launch/gait_generator.launch.py           | 11 +++++++++-
 .../launch/joints_aggregator.launch.py        |  3 +++
 .../joints_aggregator/joints_aggregator.cpp   |  4 ++--
 .../limb_kin_chain/limb_kin_chain_node.cpp    |  2 +-
 .../launch/robot_state_publisher.launch.py    |  9 ++++++++
 .../launch/penta_i2c_actuators.launch.py      |  5 ++++-
 .../penta_i2c_actuators_node.py               |  2 +-
 penta_pod/launch/penta_rviz.launch.py         | 11 +++++++++-
 .../launch/penta_sim_full_rviz.launch.py      |  5 ++++-
 penta_pod/launch/penta_sim_rviz.launch.py     | 21 ++++---------------
 10 files changed, 48 insertions(+), 25 deletions(-)

diff --git a/gait_generator/launch/gait_generator.launch.py b/gait_generator/launch/gait_generator.launch.py
index dfece2e..749ddd6 100644
--- a/gait_generator/launch/gait_generator.launch.py
+++ b/gait_generator/launch/gait_generator.launch.py
@@ -17,7 +17,12 @@ def generate_launch_description():
             executable="gait_generator_node",
             output="screen",
             parameters=[config],
-        )
+            remappings=[
+                # consumed topics
+                ("cmd_vel", "/cmd_vel"),
+                ("null_space_pose", "/null_space_pose"),
+            ],
+        ),
     )
     ld.add_action(
         Node(
@@ -25,6 +30,10 @@ def generate_launch_description():
             executable="base_tf_broadcaster_node",
             output="screen",
             parameters=[config],
+            remappings=[
+                # output topics
+                ("null_space_pose", "/null_space_pose"),
+            ],
         )
     )
     return ld
diff --git a/joints_aggregator/launch/joints_aggregator.launch.py b/joints_aggregator/launch/joints_aggregator.launch.py
index e07e58e..aad4597 100644
--- a/joints_aggregator/launch/joints_aggregator.launch.py
+++ b/joints_aggregator/launch/joints_aggregator.launch.py
@@ -17,6 +17,9 @@ def generate_launch_description():
                 executable="joints_aggregator_node",
                 output="screen",
                 parameters=[config],
+                remappings=[
+                    ("joint_setpoints", "/joint_setpoints"),
+                ],
             ),
         ]
     )
diff --git a/joints_aggregator/src/joints_aggregator/joints_aggregator.cpp b/joints_aggregator/src/joints_aggregator/joints_aggregator.cpp
index 415fc75..387646c 100644
--- a/joints_aggregator/src/joints_aggregator/joints_aggregator.cpp
+++ b/joints_aggregator/src/joints_aggregator/joints_aggregator.cpp
@@ -36,10 +36,10 @@ JointsAggregator::JointsAggregator()
   this->previous_q_ = std::vector<double>(joints_count, 0.);
 
   joint_state_publisher_ =
-      node_->create_publisher<sensor_msgs::msg::JointState>("joint_states", 10);
+      node_->create_publisher<sensor_msgs::msg::JointState>("joint_setpoints", 10);
 
   for (int i = 0; i < limbs_num_; i++) {
-    std::string topic_string = "limb" + std::to_string(i) + "/joint_state";
+    std::string topic_string = "limb" + std::to_string(i) + "/joint_setpoints";
     limb_joints_subscriber_.push_back(
         node_->create_subscription<sensor_msgs::msg::JointState>(
             topic_string, 10,
diff --git a/limb_kin_chain/src/limb_kin_chain/limb_kin_chain_node.cpp b/limb_kin_chain/src/limb_kin_chain/limb_kin_chain_node.cpp
index 2dd843f..6058128 100644
--- a/limb_kin_chain/src/limb_kin_chain/limb_kin_chain_node.cpp
+++ b/limb_kin_chain/src/limb_kin_chain/limb_kin_chain_node.cpp
@@ -96,7 +96,7 @@ LimbNode::LimbNode(Limb limb)
   }
 
   joint_state_publisher_ =
-      node_->create_publisher<sensor_msgs::msg::JointState>("joint_state", 10);
+      node_->create_publisher<sensor_msgs::msg::JointState>("joint_setpoints", 10);
   // you can publish initial joints states once
   sensor_msgs::msg::JointState msg;
   msg.name = joints_names;
diff --git a/penta_description/launch/robot_state_publisher.launch.py b/penta_description/launch/robot_state_publisher.launch.py
index 6f8e171..f0f02db 100644
--- a/penta_description/launch/robot_state_publisher.launch.py
+++ b/penta_description/launch/robot_state_publisher.launch.py
@@ -31,7 +31,13 @@ def load_penta_pod_urdf():
 def generate_launch_description():
     robot_description = load_penta_pod_urdf()
     print("robot_description: ", robot_description)
+    remapping_arg = DeclareLaunchArgument(
+        'joint_states_remappings',
+        default_value='/joint_states',
+        description='Robot state publisher input topic'
+    )
     return LaunchDescription([
+        remapping_arg,
         Node(
             package='robot_state_publisher',
             executable='robot_state_publisher',
@@ -40,5 +46,8 @@ def generate_launch_description():
             parameters=[
                 {'robot_description': robot_description}
             ],
+            remappings=[
+                ('joint_states', LaunchConfiguration('joint_states_remappings')),
+            ]
         ),
     ])
\ No newline at end of file
diff --git a/penta_i2c_actuators/launch/penta_i2c_actuators.launch.py b/penta_i2c_actuators/launch/penta_i2c_actuators.launch.py
index 022a214..98a562c 100644
--- a/penta_i2c_actuators/launch/penta_i2c_actuators.launch.py
+++ b/penta_i2c_actuators/launch/penta_i2c_actuators.launch.py
@@ -29,7 +29,10 @@ def generate_launch_description():
         output='screen',
         parameters=[config],
         # Pass 'mode' argument to the node
-        arguments=[LaunchConfiguration('mode')]
+        arguments=[LaunchConfiguration('mode')],
+        remappings=[
+            ('joint_setpoints', '/joint_setpoints'),
+        ]
     )
 
     # Create a launch description and add the actions
diff --git a/penta_i2c_actuators/penta_i2c_actuators/penta_i2c_actuators_node.py b/penta_i2c_actuators/penta_i2c_actuators/penta_i2c_actuators_node.py
index 14714eb..4cf8f20 100644
--- a/penta_i2c_actuators/penta_i2c_actuators/penta_i2c_actuators_node.py
+++ b/penta_i2c_actuators/penta_i2c_actuators/penta_i2c_actuators_node.py
@@ -27,7 +27,7 @@ def __init__(self, mode):
         self.setpoint_publisher_ = self.create_publisher(JointState, '/actuator_setpoint_degree', 10)
         self.joint_states_subscriber = self.create_subscription(
                 JointState,
-                "/joint_states",
+                "joint_setpoints",
                 lambda msg : self.on_joint_states_callback(msg),
                 10  # Set QoS to 10
             )
diff --git a/penta_pod/launch/penta_rviz.launch.py b/penta_pod/launch/penta_rviz.launch.py
index 0d7e761..ffc1d7e 100644
--- a/penta_pod/launch/penta_rviz.launch.py
+++ b/penta_pod/launch/penta_rviz.launch.py
@@ -14,6 +14,11 @@
 
 # This is a launch rviz2 on a laptop for the toperware_bot
 def generate_launch_description():
+    robot_state_publisher_remapping_arg = DeclareLaunchArgument(
+        'joint_states_remappings',
+        default_value='/joint_states',
+        description='Robot state publisher input topic'
+    )
     rviz_config_file = PathJoinSubstitution(
         [FindPackageShare('penta_description'), 'config', 'penta.rviz'])
     penta_description_pkg = get_package_share_directory("penta_description")
@@ -22,9 +27,13 @@ def generate_launch_description():
     robot_state_publisher_launch = IncludeLaunchDescription(
         PythonLaunchDescriptionSource(
             os.path.join(penta_description_pkg, "launch", "robot_state_publisher.launch.py")
-        )
+        ),
+        launch_arguments={
+            'joint_states_remappings': LaunchConfiguration('joint_states_remappings'),
+        }.items()
     )
     return LaunchDescription([
+        robot_state_publisher_remapping_arg,
         DeclareLaunchArgument(
             'config_file',
             default_value=rviz_config_file,
diff --git a/penta_pod/launch/penta_sim_full_rviz.launch.py b/penta_pod/launch/penta_sim_full_rviz.launch.py
index b5a6667..169f2ea 100644
--- a/penta_pod/launch/penta_sim_full_rviz.launch.py
+++ b/penta_pod/launch/penta_sim_full_rviz.launch.py
@@ -17,7 +17,10 @@ def generate_launch_description():
     rviz_penta_pod_launch = IncludeLaunchDescription(
         PythonLaunchDescriptionSource(
             os.path.join(FindPackageShare('penta_pod').find('penta_pod'), 'launch', 'penta_rviz.launch.py')
-        )
+        ),
+        launch_arguments={
+            'joint_states_remappings': '/joint_setpoints',
+        }.items()
     )
 
     # Include the penta_pod launch file
diff --git a/penta_pod/launch/penta_sim_rviz.launch.py b/penta_pod/launch/penta_sim_rviz.launch.py
index 8335d96..ee67eff 100644
--- a/penta_pod/launch/penta_sim_rviz.launch.py
+++ b/penta_pod/launch/penta_sim_rviz.launch.py
@@ -10,7 +10,10 @@ def generate_launch_description():
     rviz_penta_pod_launch = IncludeLaunchDescription(
         PythonLaunchDescriptionSource(
             os.path.join(FindPackageShare('penta_pod').find('penta_pod'), 'launch', 'penta_rviz.launch.py')
-        )
+        ),
+        launch_arguments={
+            'joint_states_remappings': '/joint_setpoints',
+        }.items()
     )
 
     # Include the penta_pod launch file
@@ -34,25 +37,9 @@ def generate_launch_description():
         )
     )
 
-    # Include the null space cmd publisher launch file
-    # null_space_publisher = IncludeLaunchDescription(
-    #     PythonLaunchDescriptionSource(
-    #         os.path.join(FindPackageShare('base_twerk').find('base_twerk'), 'launch', 'null_pose_publisher.launch.py')
-    #     )
-    # )
-
-    # Include the twerk action server launch file
-    # twerk_action_server = IncludeLaunchDescription(
-    #     PythonLaunchDescriptionSource(
-    #         os.path.join(FindPackageShare('base_twerk').find('base_twerk'), 'launch', 'base_twerk_action_server.launch.py')
-    #     )
-    # )
-
     return LaunchDescription([
         rviz_penta_pod_launch,
         penta_pod_launch,
         gait_generator_launch,
         joints_aggregator_launch,
-        # null_space_publisher,
-        # twerk_action_server
     ])

From da7b64ee9fe90a15f51c3c1d9435f164cba45439 Mon Sep 17 00:00:00 2001
From: "Safeea, Mohammad" <mohammad.safeea@hilti.com>
Date: Mon, 21 Apr 2025 01:30:32 +0200
Subject: [PATCH 14/58] gazebo sim

---
 penta_pod/launch/penta_gazebo.launch.py | 7 +++++--
 1 file changed, 5 insertions(+), 2 deletions(-)

diff --git a/penta_pod/launch/penta_gazebo.launch.py b/penta_pod/launch/penta_gazebo.launch.py
index 156ab30..e75b3f4 100644
--- a/penta_pod/launch/penta_gazebo.launch.py
+++ b/penta_pod/launch/penta_gazebo.launch.py
@@ -19,8 +19,11 @@ def generate_launch_description():
     # RViz
     penta_rviz_launch = IncludeLaunchDescription(
         PythonLaunchDescriptionSource(
-            os.path.join(penta_pkg, "launch", "penta_sim_full_rviz.launch.py")
-        )
+            os.path.join(penta_pkg, "launch", "penta_rviz.launch.py")
+        ),
+        launch_arguments={
+            'joint_states_remappings': "/joint_states",
+        }.items()
     )
 
     # Gazebo

From 9d2da38cdf3558dd52b724f6e8c5e7e2dcc9770c Mon Sep 17 00:00:00 2001
From: "Safeea, Mohammad" <mohammad.safeea@hilti.com>
Date: Mon, 21 Apr 2025 01:34:30 +0200
Subject: [PATCH 15/58] add simulations

---
 README.md | 11 ++++++++++-
 1 file changed, 10 insertions(+), 1 deletion(-)

diff --git a/README.md b/README.md
index df017a1..7b5459e 100644
--- a/README.md
+++ b/README.md
@@ -76,10 +76,12 @@ cd ~/my_ws/src/scorpion/scripts
 
 ## Run in simulation
 
+### Using Rviz
+
 You can run the simulation using the command
 
 ```
-ros2 launch penta_pod penta_simn_rviz.launch.py
+ros2 launch penta_pod penta_sim_rviz.launch.py
 ```
 
 You can move the robot around using
@@ -88,6 +90,13 @@ You can move the robot around using
 ros2 run teleop_twist_keyboard teleop_twist_keyboard
 ```
 
+### Gazebo simulation
+
+You can also run a gazebo simulation using
+
+```
+ros2 launch penta_pod penta_gazebo.launch.py
+```
 
 ## Using devcontainers
 

From b57fb1c263f9ce40e3b4b78592f972eaaa090682 Mon Sep 17 00:00:00 2001
From: "Safeea, Mohammad" <mohammad.safeea@hilti.com>
Date: Sat, 10 May 2025 09:02:49 +0200
Subject: [PATCH 16/58] remove absolute path, poential bug

---
 penta_teleop/src/penta_teleop/joystick_extra_controls.cpp | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/penta_teleop/src/penta_teleop/joystick_extra_controls.cpp b/penta_teleop/src/penta_teleop/joystick_extra_controls.cpp
index 4dfdd5b..f06a385 100644
--- a/penta_teleop/src/penta_teleop/joystick_extra_controls.cpp
+++ b/penta_teleop/src/penta_teleop/joystick_extra_controls.cpp
@@ -28,7 +28,7 @@ JoystickExtraControls::JoystickExtraControls()
       "cmd_null_setpoint", rmw_qos_profile_services_default, callback_group_);
   // Service cleint to change walking pattern
   set_gait_pattern_client_ = node_->create_client<SetGaitPattern>(
-      "/gait_generator/set_gait_pattern", rmw_qos_profile_services_default,
+      "gait_generator/set_gait_pattern", rmw_qos_profile_services_default,
       callback_group_);
 }
 

From 5cd62b127551a78f7deeb99ae80a82361100dcb1 Mon Sep 17 00:00:00 2001
From: "Safeea, Mohammad" <mohammad.safeea@hilti.com>
Date: Sat, 10 May 2025 23:39:38 +0200
Subject: [PATCH 17/58] docker-compose env vars

---
 .devcontainer/docker-compose.yaml | 15 ++++++++++++---
 1 file changed, 12 insertions(+), 3 deletions(-)

diff --git a/.devcontainer/docker-compose.yaml b/.devcontainer/docker-compose.yaml
index 0dc2d0a..bd415dd 100644
--- a/.devcontainer/docker-compose.yaml
+++ b/.devcontainer/docker-compose.yaml
@@ -7,10 +7,19 @@ services:
         COLCON_WORKSPACE: /root/ros_ws
     volumes:
       - ../:/root/ros_ws/src
+      - /dev:/dev
+      - /tmp/.X11-unix:/tmp/.X11-unix
     environment:
       - ROS_DOMAIN_ID=91
-    network_mode: "host"
-    command: ["/bin/bash", "-c", "/root/ros_ws/src/.devcontainer/entrypoint.sh"]
+      - DISPLAY=${DISPLAY}
+      - QT_X11_NO_MITSHM=1
+    privileged: true
+    devices:
+      - /dev/bus/usb:/dev/bus/usb
+      - /dev/i2c-0:/dev/i2c-0
+      - /dev/i2c-1:/dev/i2c-1
+    tty: true
+    command: [ "/bin/bash", "-c", "/root/ros_ws/src/.devcontainer/entrypoint.sh" ]
 
   scorpion-ros2-test:
     build:
@@ -23,4 +32,4 @@ services:
     environment:
       - ROS_DOMAIN_ID=91
     network_mode: "host"
-    command: ["/bin/bash", "-c", "source /opt/ros/humble/setup.bash && cd /root/ros_ws && colcon test"]
+    command: [ "/bin/bash", "-c", "source /opt/ros/humble/setup.bash && cd /root/ros_ws && colcon test" ]

From 6b628cc675d3721be5b33e0b19571b98861ad04a Mon Sep 17 00:00:00 2001
From: "Safeea, Mohammad" <mohammad.safeea@hilti.com>
Date: Sat, 10 May 2025 23:53:02 +0200
Subject: [PATCH 18/58] add namespace

---
 .../launch/base_twerk_action_server.launch.py | 24 ++++++++++---
 .../launch/null_pose_publisher.launch.py      | 23 +++++++++++-
 .../launch/penta_i2c_actuators.launch.py      | 22 ++++++++----
 penta_teleop/launch/teleop_joystick.launch.py | 35 ++++++++++++++++---
 4 files changed, 89 insertions(+), 15 deletions(-)

diff --git a/base_twerk/launch/base_twerk_action_server.launch.py b/base_twerk/launch/base_twerk_action_server.launch.py
index c0fc5ba..c09aabe 100644
--- a/base_twerk/launch/base_twerk_action_server.launch.py
+++ b/base_twerk/launch/base_twerk_action_server.launch.py
@@ -2,25 +2,41 @@
 from ament_index_python.packages import get_package_share_directory
 from launch import LaunchDescription
 from launch_ros.actions import Node
+from launch.actions import DeclareLaunchArgument
+from launch.substitutions import LaunchConfiguration
 
 
 def generate_launch_description():
+
+    ld = LaunchDescription()
+
+    """ Launch args """
+    name_space_arg = DeclareLaunchArgument(
+        "name_space",
+        default_value="",
+        description="Robot name space",
+    )
+    ld.add_action(name_space_arg)
+
+    """ Nodes """
     config = os.path.join(
         get_package_share_directory("penta_description"),
         "config",
         "general_config.yaml",
     )
-    ld = LaunchDescription()
     ld.add_action(
         Node(
             package="base_twerk",
             executable="base_twerk_action_server_node",
             output="screen",
+            namespace=LaunchConfiguration("name_space"),
             parameters=[config],
             remappings=[
-                ("cmd_null_setpoint", "/cmd_null_setpoint"),
-                ("get_current_null_pose", "/get_current_null_pose"),
-            ]
+                # services
+                ("cmd_null_setpoint", "base_twerk/cmd_null_setpoint"),
+                ("get_current_null_pose", "base_twerk/get_current_null_pose"),
+                # topics
+            ],
         )
     )
     return ld
diff --git a/base_twerk/launch/null_pose_publisher.launch.py b/base_twerk/launch/null_pose_publisher.launch.py
index 8de29ef..62588bd 100644
--- a/base_twerk/launch/null_pose_publisher.launch.py
+++ b/base_twerk/launch/null_pose_publisher.launch.py
@@ -2,21 +2,42 @@
 from ament_index_python.packages import get_package_share_directory
 from launch import LaunchDescription
 from launch_ros.actions import Node
+from launch.actions import DeclareLaunchArgument
+from launch.substitutions import LaunchConfiguration
 
 
 def generate_launch_description():
+
+    ld = LaunchDescription()
+
+    """ Launch args """
+    name_space_arg = DeclareLaunchArgument(
+        "name_space",
+        default_value="",
+        description="Robot name space",
+    )
+    ld.add_action(name_space_arg)
+
+    """ Nodes """
     config = os.path.join(
         get_package_share_directory("penta_description"),
         "config",
         "general_config.yaml",
     )
-    ld = LaunchDescription()
     ld.add_action(
         Node(
             package="base_twerk",
             executable="base_twerk_publisher_node",
             output="screen",
+            namespace=LaunchConfiguration("name_space"),
             parameters=[config],
+            remappings=[
+                # services
+                ("cmd_null_setpoint", "base_twerk/cmd_null_setpoint"),
+                ("get_current_null_pose", "base_twerk/get_current_null_pose"),
+                # topics
+                ("null_space_pose", "null_space_pose")
+            ],
         )
     )
     return ld
diff --git a/penta_i2c_actuators/launch/penta_i2c_actuators.launch.py b/penta_i2c_actuators/launch/penta_i2c_actuators.launch.py
index 98a562c..9ed15a0 100644
--- a/penta_i2c_actuators/launch/penta_i2c_actuators.launch.py
+++ b/penta_i2c_actuators/launch/penta_i2c_actuators.launch.py
@@ -8,12 +8,25 @@
 from launch_ros.substitutions import FindPackageShare
 
 def generate_launch_description():
+
+    ld = LaunchDescription()
+
+    """ Launch args """
+    name_space_arg = DeclareLaunchArgument(
+        "name_space",
+        default_value="",
+        description="Robot name space",
+    )
+    ld.add_action(name_space_arg)
+
+    """ Nodes """
     # Declare the launch argument 'mode'
     mode_arg = DeclareLaunchArgument(
         'mode',
         default_value='virtual',
         description='Choose operation mode: real or virtual'
     )
+    ld.add_action(mode_arg)
 
     # Path to the config file
     config = os.path.join(
@@ -28,17 +41,14 @@ def generate_launch_description():
         executable='penta_i2c_actuators_node',
         output='screen',
         parameters=[config],
+        namespace=LaunchConfiguration('name_space'),
         # Pass 'mode' argument to the node
         arguments=[LaunchConfiguration('mode')],
         remappings=[
             ('joint_setpoints', '/joint_setpoints'),
+            ('actuator_setpoint_degree', '/actuator_setpoint_degree'),
         ]
     )
-
-    # Create a launch description and add the actions
-    ld = LaunchDescription([
-        mode_arg,            # Add the mode argument
-        i2c_actuators_node   # Add the node
-    ])
+    ld.add_action(i2c_actuators_node)
 
     return ld
diff --git a/penta_teleop/launch/teleop_joystick.launch.py b/penta_teleop/launch/teleop_joystick.launch.py
index 24d6f2a..367c2d6 100644
--- a/penta_teleop/launch/teleop_joystick.launch.py
+++ b/penta_teleop/launch/teleop_joystick.launch.py
@@ -3,10 +3,23 @@
 
 import os
 from ament_index_python.packages import get_package_share_directory
-
+from launch.actions import DeclareLaunchArgument
+from launch.substitutions import LaunchConfiguration
 
 def generate_launch_description():
 
+    ld = LaunchDescription()
+
+    """ Launch args """
+    name_space_arg = DeclareLaunchArgument(
+        "name_space",
+        default_value="",
+        description="Robot name space",
+    )
+    ld.add_action(name_space_arg)
+
+    """ Nodes """
+
     joy_params = os.path.join(
         get_package_share_directory("penta_teleop"), "config", "teleop_joystick.yaml"
     )
@@ -14,6 +27,7 @@ def generate_launch_description():
     joy_node = Node(
         package="joy",
         executable="joy_node",
+        namespace=LaunchConfiguration("name_space"),
         parameters=[joy_params],
     )
 
@@ -21,6 +35,7 @@ def generate_launch_description():
         package="teleop_twist_joy",
         executable="teleop_node",
         name="teleop_node",
+        namespace=LaunchConfiguration("name_space"),
         parameters=[joy_params],
         # remappings=[("/cmd_vel", "/input/cmd_vel_teleop_joy")],
     )
@@ -37,9 +52,21 @@ def generate_launch_description():
         package="penta_teleop",
         executable="joystick_extra_controls_node",
         name="joystick_extra_controls_node",
+        namespace=LaunchConfiguration("name_space"),
+        remappings=[
+            # services
+            ("cmd_null_setpoint", "base_twerk/cmd_null_setpoint"),
+            ("get_current_null_pose", "base_twerk/get_current_null_pose"),
+        ],
         parameters=[joystick_extra_controls_configs, general_config_params],
     )
 
-    return LaunchDescription(
-        [joy_node, teleop_twist_joy_node, joystick_extra_controls_node]
-    )
+    nodes = [
+        joy_node,
+        teleop_twist_joy_node,
+        joystick_extra_controls_node,
+    ]
+    for node in nodes:
+        ld.add_action(node)
+
+    return ld

From 140281f12e55b37c9f959441e3e37b3649f28ced Mon Sep 17 00:00:00 2001
From: "Safeea, Mohammad" <mohammad.safeea@hilti.com>
Date: Sun, 11 May 2025 00:28:49 +0200
Subject: [PATCH 19/58] change mode from launch argument

---
 .../penta_i2c_actuators/penta_i2c_actuators_node.py | 13 +++++++++++--
 1 file changed, 11 insertions(+), 2 deletions(-)

diff --git a/penta_i2c_actuators/penta_i2c_actuators/penta_i2c_actuators_node.py b/penta_i2c_actuators/penta_i2c_actuators/penta_i2c_actuators_node.py
index 4cf8f20..35cf1d0 100644
--- a/penta_i2c_actuators/penta_i2c_actuators/penta_i2c_actuators_node.py
+++ b/penta_i2c_actuators/penta_i2c_actuators/penta_i2c_actuators_node.py
@@ -4,6 +4,10 @@
 import math
 import sys
 
+class Mode:
+    REAL = 'real'
+    VIRTUAL = 'virtual'
+
 class PentaI2CActuators(Node):
     def __init__(self, mode):
         super().__init__('penta_i2c_actuators')
@@ -16,6 +20,11 @@ def __init__(self, mode):
                 
         # Set mode (real or virtual)
         self.real_mode_flag = True
+        if mode == Mode.VIRTUAL:
+            self.real_mode_flag = False
+            self.get_logger().info('Running in virtual mode, no actuators will be controlled')
+        else:
+            self.get_logger().info('Running in real mode, actuators will be controlled')
         if self.real_mode_flag:
             from adafruit_servokit import ServoKit
             self.kit = ServoKit(channels=16)  # Use 16-channel board
@@ -24,7 +33,7 @@ def __init__(self, mode):
                 self.kit.servo[i].actuation_range = self.servo_actuation_range_degree[i]
 
         # Publisher actuators setpoint from joint states
-        self.setpoint_publisher_ = self.create_publisher(JointState, '/actuator_setpoint_degree', 10)
+        self.setpoint_publisher_ = self.create_publisher(JointState, 'actuator_setpoint_degree', 10)
         self.joint_states_subscriber = self.create_subscription(
                 JointState,
                 "joint_setpoints",
@@ -157,7 +166,7 @@ def main(args=None):
     rclpy.init(args=args)
 
     # Retrieve the mode from arguments
-    mode = 'virtual'
+    mode = Mode.VIRTUAL
     if len(sys.argv) > 1:
         mode = sys.argv[1]
 

From ff0b5b4a9f91ab769f2a135991601476c4da5acd Mon Sep 17 00:00:00 2001
From: "Safeea, Mohammad" <mohammad.safeea@hilti.com>
Date: Sun, 11 May 2025 00:29:40 +0200
Subject: [PATCH 20/58] commit out vel_mux

---
 penta_pod/launch/penta_sim_full_rviz.launch.py | 12 ++++++------
 1 file changed, 6 insertions(+), 6 deletions(-)

diff --git a/penta_pod/launch/penta_sim_full_rviz.launch.py b/penta_pod/launch/penta_sim_full_rviz.launch.py
index 169f2ea..e80663f 100644
--- a/penta_pod/launch/penta_sim_full_rviz.launch.py
+++ b/penta_pod/launch/penta_sim_full_rviz.launch.py
@@ -7,11 +7,11 @@
 
 def generate_launch_description():
     # Include scorption_cmd_vel_mux launcer
-    scorption_cmd_vel_mux_launch = IncludeLaunchDescription(
-        PythonLaunchDescriptionSource(
-            os.path.join(FindPackageShare('scorpion_cmd_vel_mux').find('scorpion_cmd_vel_mux'), 'launch', 'cmd_vel_mux.launch.py')
-        )
-    )
+    # scorption_cmd_vel_mux_launch = IncludeLaunchDescription(
+    #     PythonLaunchDescriptionSource(
+    #         os.path.join(FindPackageShare('scorpion_cmd_vel_mux').find('scorpion_cmd_vel_mux'), 'launch', 'cmd_vel_mux.launch.py')
+    #     )
+    # )
 
     # Include RVIZ launch file
     rviz_penta_pod_launch = IncludeLaunchDescription(
@@ -59,7 +59,7 @@ def generate_launch_description():
     )
 
     return LaunchDescription([
-        scorption_cmd_vel_mux_launch,
+        # scorption_cmd_vel_mux_launch,
         rviz_penta_pod_launch,
         penta_pod_launch,
         gait_generator_launch,

From e7858bfde90e5dce3d375bc877bdc3ac277af533 Mon Sep 17 00:00:00 2001
From: "Safeea, Mohammad" <mohammad.safeea@hilti.com>
Date: Sun, 11 May 2025 11:13:44 +0200
Subject: [PATCH 21/58] fix README

---
 penta_teleop/README.md | 12 ++++++------
 1 file changed, 6 insertions(+), 6 deletions(-)

diff --git a/penta_teleop/README.md b/penta_teleop/README.md
index 861429b..e5fc8f3 100644
--- a/penta_teleop/README.md
+++ b/penta_teleop/README.md
@@ -8,18 +8,18 @@ Tested with wirless Xbox contorller provided with a dongle
 Connect the dongle to Raspberry PI, to control the robot as follows:
 
 
-1- Left joystick for linear motion in the plane (x and y)
+1- `Left joystick` for linear motion in the plane (x and y)
 
-2- Right joystick for rotations
+2- `Right joystick` for rotations
 
-3- D-Pad up and down buttons, to move the robot up and down
+3- `D-Pad` up and down buttons, to move the robot up and down
 
-4- X button to change walking pattern
+4- `X button` to change walking pattern
 
 Note, make sure to enable the motion using:
 
-1- Use Right Trigger button (RT) to enable the turbo mode
+1- `Right Trigger button (RT)` to enable the turbo mode
 
-2- Use Left Trigger button (LT) to enable slow motion mode
+2- `Left Trigger button (LT)` to enable slow motion mode
 
 3- Walking pattern changes only when the robot is in stand-still
\ No newline at end of file

From d78422507e4833fb5d4246c284f5ed2183f4138c Mon Sep 17 00:00:00 2001
From: "Safeea, Mohammad" <mohammad.safeea@hilti.com>
Date: Sun, 11 May 2025 17:47:33 +0200
Subject: [PATCH 22/58] add namespace to support multible robots on same
 network

---
 .../launch/gait_generator.launch.py           | 22 +++++++-
 .../launch/joints_aggregator.launch.py        | 18 +++++-
 penta_description/launch/penta_rviz.launch.py | 11 ++++
 .../launch/robot_state_publisher.launch.py    | 10 ++++
 .../launch/penta_i2c_actuators.launch.py      |  4 +-
 penta_pod/launch/penta_pod.launch.py          | 52 ++++++++++++++---
 penta_pod/launch/penta_rviz.launch.py         | 22 ++++++--
 .../launch/penta_sim_full_rviz.launch.py      | 44 ++++++++++++---
 .../launch/realhardware_bringup.launch.py     | 56 +++++++++++++------
 9 files changed, 197 insertions(+), 42 deletions(-)

diff --git a/gait_generator/launch/gait_generator.launch.py b/gait_generator/launch/gait_generator.launch.py
index 749ddd6..7978d85 100644
--- a/gait_generator/launch/gait_generator.launch.py
+++ b/gait_generator/launch/gait_generator.launch.py
@@ -2,9 +2,23 @@
 from ament_index_python.packages import get_package_share_directory
 from launch import LaunchDescription
 from launch_ros.actions import Node
+from launch.actions import DeclareLaunchArgument
+from launch.substitutions import LaunchConfiguration
 
 
 def generate_launch_description():
+
+    ld = LaunchDescription()
+
+    """ Launch args """
+    name_space_arg = DeclareLaunchArgument(
+        "name_space",
+        default_value="",
+        description="Robot name space",
+    )
+    ld.add_action(name_space_arg)
+
+    """ Nodes """
     config = os.path.join(
         get_package_share_directory("penta_description"),
         "config",
@@ -17,10 +31,11 @@ def generate_launch_description():
             executable="gait_generator_node",
             output="screen",
             parameters=[config],
+            namespace=LaunchConfiguration("name_space"),
             remappings=[
                 # consumed topics
-                ("cmd_vel", "/cmd_vel"),
-                ("null_space_pose", "/null_space_pose"),
+                ("cmd_vel", "cmd_vel"),
+                ("null_space_pose", "null_space_pose"),
             ],
         ),
     )
@@ -30,9 +45,10 @@ def generate_launch_description():
             executable="base_tf_broadcaster_node",
             output="screen",
             parameters=[config],
+            namespace=LaunchConfiguration("name_space"),
             remappings=[
                 # output topics
-                ("null_space_pose", "/null_space_pose"),
+                ("null_space_pose", "null_space_pose"),
             ],
         )
     )
diff --git a/joints_aggregator/launch/joints_aggregator.launch.py b/joints_aggregator/launch/joints_aggregator.launch.py
index aad4597..0467f14 100644
--- a/joints_aggregator/launch/joints_aggregator.launch.py
+++ b/joints_aggregator/launch/joints_aggregator.launch.py
@@ -2,9 +2,22 @@
 from ament_index_python.packages import get_package_share_directory
 from launch import LaunchDescription
 import launch_ros.actions
-
+from launch.actions import DeclareLaunchArgument
+from launch.substitutions import LaunchConfiguration
 
 def generate_launch_description():
+
+    ld = LaunchDescription()
+
+    """ Launch args """
+    name_space_arg = DeclareLaunchArgument(
+        "name_space",
+        default_value="",
+        description="Robot name space",
+    )
+    ld.add_action(name_space_arg)
+
+    """ Nodes """
     config = os.path.join(
         get_package_share_directory("penta_description"),
         "config",
@@ -16,9 +29,10 @@ def generate_launch_description():
                 package="joints_aggregator",
                 executable="joints_aggregator_node",
                 output="screen",
+                namespace=LaunchConfiguration("name_space"),
                 parameters=[config],
                 remappings=[
-                    ("joint_setpoints", "/joint_setpoints"),
+                    ("joint_setpoints", "joint_setpoints"),
                 ],
             ),
         ]
diff --git a/penta_description/launch/penta_rviz.launch.py b/penta_description/launch/penta_rviz.launch.py
index 6b8185e..d63c3b1 100644
--- a/penta_description/launch/penta_rviz.launch.py
+++ b/penta_description/launch/penta_rviz.launch.py
@@ -11,6 +11,14 @@
 
 # This is a launch rviz2 on a laptop for the toperware_bot
 def generate_launch_description():
+    """ Launch args """
+    name_space_arg = DeclareLaunchArgument(
+        "name_space",
+        default_value="",
+        description="Robot name space",
+    )
+
+    """ Nodes """
     rviz_config_file = PathJoinSubstitution(
         [FindPackageShare('penta_description'), 'config', 'penta.rviz'])
     urdf_path = os.path.join(
@@ -23,6 +31,7 @@ def generate_launch_description():
     robot_description = ParameterValue(Command(['xacro ', LaunchConfiguration('model')]),
                                        value_type=str)
     return LaunchDescription([
+        name_space_arg,
         DeclareLaunchArgument(
             'config_file',
             default_value=rviz_config_file,
@@ -31,6 +40,7 @@ def generate_launch_description():
         Node(
             package='rviz2',
             executable='rviz2',
+            namespace=LaunchConfiguration('name_space'),
             name='rviz2',
             output='screen',
             arguments=['-d', LaunchConfiguration('config_file')]
@@ -39,6 +49,7 @@ def generate_launch_description():
         Node(
             package='robot_state_publisher',
             executable='robot_state_publisher',
+            namespace=LaunchConfiguration('name_space'),
             name='robot_state_publisher',
             output='screen',
             parameters=[
diff --git a/penta_description/launch/robot_state_publisher.launch.py b/penta_description/launch/robot_state_publisher.launch.py
index f0f02db..9b62822 100644
--- a/penta_description/launch/robot_state_publisher.launch.py
+++ b/penta_description/launch/robot_state_publisher.launch.py
@@ -31,16 +31,26 @@ def load_penta_pod_urdf():
 def generate_launch_description():
     robot_description = load_penta_pod_urdf()
     print("robot_description: ", robot_description)
+
+    """ Launch args """
+    name_space_arg = DeclareLaunchArgument(
+        "name_space",
+        default_value="",
+        description="Robot name space",
+    )
     remapping_arg = DeclareLaunchArgument(
         'joint_states_remappings',
         default_value='/joint_states',
         description='Robot state publisher input topic'
     )
+    """ Lauch description """
     return LaunchDescription([
+        name_space_arg,
         remapping_arg,
         Node(
             package='robot_state_publisher',
             executable='robot_state_publisher',
+            namespace=LaunchConfiguration('name_space'),
             name='robot_state_publisher',
             output='screen',
             parameters=[
diff --git a/penta_i2c_actuators/launch/penta_i2c_actuators.launch.py b/penta_i2c_actuators/launch/penta_i2c_actuators.launch.py
index 9ed15a0..320d7b7 100644
--- a/penta_i2c_actuators/launch/penta_i2c_actuators.launch.py
+++ b/penta_i2c_actuators/launch/penta_i2c_actuators.launch.py
@@ -45,8 +45,8 @@ def generate_launch_description():
         # Pass 'mode' argument to the node
         arguments=[LaunchConfiguration('mode')],
         remappings=[
-            ('joint_setpoints', '/joint_setpoints'),
-            ('actuator_setpoint_degree', '/actuator_setpoint_degree'),
+            ('joint_setpoints', 'joint_setpoints'),
+            ('actuator_setpoint_degree', 'actuator_setpoint_degree'),
         ]
     )
     ld.add_action(i2c_actuators_node)
diff --git a/penta_pod/launch/penta_pod.launch.py b/penta_pod/launch/penta_pod.launch.py
index 35fedf0..3796749 100644
--- a/penta_pod/launch/penta_pod.launch.py
+++ b/penta_pod/launch/penta_pod.launch.py
@@ -7,6 +7,9 @@
 from launch.actions import IncludeLaunchDescription
 from launch.launch_description_sources import PythonLaunchDescriptionSource
 from launch_ros.substitutions import FindPackageShare
+from launch.actions import DeclareLaunchArgument
+from launch.substitutions import LaunchConfiguration
+
 
 def get_robot_limbs_num_from_yaml(package_name, config_folder_name, config_file_name):
     message = """
@@ -27,6 +30,18 @@ def get_robot_limbs_num_from_yaml(package_name, config_folder_name, config_file_
 
 
 def generate_launch_description():
+
+    ld = LaunchDescription()
+
+    """ Launch args """
+    name_space_arg = DeclareLaunchArgument(
+        "name_space",
+        default_value="",
+        description="Robot name space",
+    )
+    ld.add_action(name_space_arg)
+
+    """ Nodes """
     package_name = "penta_description"
     config_folder_name = "config"
     config_file_name = "limb_0_mdh.yaml"
@@ -36,25 +51,48 @@ def generate_launch_description():
         config_file_name,
     )
     config_file_name = "general_config.yaml"
-    limbs_num = get_robot_limbs_num_from_yaml(package_name, config_folder_name, config_file_name)
-    ld = LaunchDescription()
+
+    limbs_num = get_robot_limbs_num_from_yaml(
+        package_name, config_folder_name, config_file_name
+    )
+
     for i in range(limbs_num):
         limb_prefix = "limb" + str(i)
         temp_node = Node(
             package="limb_kin_chain",
             executable="limb_kin_chain_node",
-            namespace=limb_prefix,
-            name=limb_prefix,
+            namespace=LaunchConfiguration("name_space"),
+            name=limb_prefix + "_kin_chain_node",
             output="screen",
             parameters=[config_limb0],
-            # remappings=[(individual_joint_state_topic, '/joint_states')]
+            remappings=[
+                (
+                    "joint_states",
+                    limb_prefix + "/joint_states",
+                ),
+                (
+                    "joint_setpoints",
+                    limb_prefix + "/joint_setpoints",
+                ),
+                (
+                    "xyz_msg",
+                    limb_prefix + "/xyz_msg",
+                )
+            ],
         )
         ld.add_action(temp_node)  # Added the Node to LaunchDescription
     # Include the joystick teleoperation launch file
     joystick_teleop_launch = IncludeLaunchDescription(
         PythonLaunchDescriptionSource(
-            os.path.join(FindPackageShare('penta_teleop').find('penta_teleop'), 'launch', 'teleop_joystick.launch.py')
-        )
+            os.path.join(
+                FindPackageShare("penta_teleop").find("penta_teleop"),
+                "launch",
+                "teleop_joystick.launch.py",
+            )
+        ),
+        launch_arguments={
+            "name_space": LaunchConfiguration("name_space"),
+        }.items(),
     )
     ld.add_action(joystick_teleop_launch)
     return ld
diff --git a/penta_pod/launch/penta_rviz.launch.py b/penta_pod/launch/penta_rviz.launch.py
index ffc1d7e..ef86105 100644
--- a/penta_pod/launch/penta_rviz.launch.py
+++ b/penta_pod/launch/penta_rviz.launch.py
@@ -14,13 +14,27 @@
 
 # This is a launch rviz2 on a laptop for the toperware_bot
 def generate_launch_description():
+    """ Launch args """
+    name_space_arg = DeclareLaunchArgument(
+        "name_space",
+        default_value="",
+        description="Robot name space",
+    )
+
     robot_state_publisher_remapping_arg = DeclareLaunchArgument(
         'joint_states_remappings',
         default_value='/joint_states',
         description='Robot state publisher input topic'
     )
+    
     rviz_config_file = PathJoinSubstitution(
         [FindPackageShare('penta_description'), 'config', 'penta.rviz'])
+    rviz_config_file_arg = DeclareLaunchArgument(
+            'config_file',
+            default_value=rviz_config_file,
+            description='Path to the RViz configuration file'
+        )
+    
     penta_description_pkg = get_package_share_directory("penta_description")
 
     # RViz
@@ -29,16 +43,14 @@ def generate_launch_description():
             os.path.join(penta_description_pkg, "launch", "robot_state_publisher.launch.py")
         ),
         launch_arguments={
+            'name_space': LaunchConfiguration('name_space'),
             'joint_states_remappings': LaunchConfiguration('joint_states_remappings'),
         }.items()
     )
     return LaunchDescription([
+        name_space_arg,
         robot_state_publisher_remapping_arg,
-        DeclareLaunchArgument(
-            'config_file',
-            default_value=rviz_config_file,
-            description='Path to the RViz configuration file'
-        ),
+        rviz_config_file_arg,
         Node(
             package='rviz2',
             executable='rviz2',
diff --git a/penta_pod/launch/penta_sim_full_rviz.launch.py b/penta_pod/launch/penta_sim_full_rviz.launch.py
index e80663f..6d474a1 100644
--- a/penta_pod/launch/penta_sim_full_rviz.launch.py
+++ b/penta_pod/launch/penta_sim_full_rviz.launch.py
@@ -4,6 +4,8 @@
 from launch_ros.substitutions import FindPackageShare
 from launch.substitutions import LaunchConfiguration
 import os
+from launch.actions import DeclareLaunchArgument
+from launch import LaunchDescription
 
 def generate_launch_description():
     # Include scorption_cmd_vel_mux launcer
@@ -13,53 +15,81 @@ def generate_launch_description():
     #     )
     # )
 
+    ld = LaunchDescription()
+
+    """ Launch args """
+    name_space_arg = DeclareLaunchArgument(
+        "name_space",
+        default_value="",
+        description="Robot name space",
+    )
+    ld.add_action(name_space_arg)
+
+    """ Nodes """
     # Include RVIZ launch file
     rviz_penta_pod_launch = IncludeLaunchDescription(
         PythonLaunchDescriptionSource(
             os.path.join(FindPackageShare('penta_pod').find('penta_pod'), 'launch', 'penta_rviz.launch.py')
         ),
         launch_arguments={
-            'joint_states_remappings': '/joint_setpoints',
+            'name_space': LaunchConfiguration('name_space'),
+            'joint_states_remappings': 'joint_setpoints',
         }.items()
     )
 
-    # Include the penta_pod launch file
+    # Include the penta_pod launch file (limbs)
     penta_pod_launch = IncludeLaunchDescription(
         PythonLaunchDescriptionSource(
             os.path.join(FindPackageShare('penta_pod').find('penta_pod'), 'launch', 'penta_pod.launch.py')
-        )
+        ),
+        launch_arguments={
+            'name_space': LaunchConfiguration('name_space'),
+        }.items()
     )
     
     # Include the gait_generator launch file
     gait_generator_launch = IncludeLaunchDescription(
         PythonLaunchDescriptionSource(
             os.path.join(FindPackageShare('gait_generator').find('gait_generator'), 'launch', 'gait_generator.launch.py')
-        )
+        ),
+        launch_arguments={
+            'name_space': LaunchConfiguration('name_space'),
+        }.items()
     )
 
     # Include the joints_aggregator launch file
     joints_aggregator_launch = IncludeLaunchDescription(
         PythonLaunchDescriptionSource(
             os.path.join(FindPackageShare('joints_aggregator').find('joints_aggregator'), 'launch', 'joints_aggregator.launch.py')
-        )
+        ),
+        launch_arguments={
+            'name_space': LaunchConfiguration('name_space'),
+        }.items()
     )
 
     # Include the null space cmd publisher launch file
     null_space_publisher = IncludeLaunchDescription(
         PythonLaunchDescriptionSource(
             os.path.join(FindPackageShare('base_twerk').find('base_twerk'), 'launch', 'null_pose_publisher.launch.py')
-        )
+        ),
+        launch_arguments={
+            'name_space': LaunchConfiguration('name_space'),
+        }.items()
     )
 
     # Include the twerk action server launch file
     twerk_action_server = IncludeLaunchDescription(
         PythonLaunchDescriptionSource(
             os.path.join(FindPackageShare('base_twerk').find('base_twerk'), 'launch', 'base_twerk_action_server.launch.py')
-        )
+        ),
+        launch_arguments={
+            'name_space': LaunchConfiguration('name_space'),
+        }.items()
     )
 
     return LaunchDescription([
         # scorption_cmd_vel_mux_launch,
+        name_space_arg,
         rviz_penta_pod_launch,
         penta_pod_launch,
         gait_generator_launch,
diff --git a/penta_pod/launch/realhardware_bringup.launch.py b/penta_pod/launch/realhardware_bringup.launch.py
index be9c69d..f2d0c0c 100644
--- a/penta_pod/launch/realhardware_bringup.launch.py
+++ b/penta_pod/launch/realhardware_bringup.launch.py
@@ -6,19 +6,30 @@
 import os
 
 def generate_launch_description():
+
+    """ Launch args """
+    # Declare the 'name_space' argument with a default value of ''
+    name_space_arg = DeclareLaunchArgument(
+        "name_space",
+        default_value="",
+        description="Robot name space",
+    )
+
     # Declare the 'mode' argument with a default value of 'real'
     mode_arg = DeclareLaunchArgument(
         'mode',
         default_value='real',
         description='Mode to run the actuators (real or sim)'
     )
-    mode = LaunchConfiguration('mode')
 
     # Include the penta_pod launch file
     penta_pod_launch = IncludeLaunchDescription(
         PythonLaunchDescriptionSource(
             os.path.join(FindPackageShare('penta_pod').find('penta_pod'), 'launch', 'penta_pod.launch.py')
-        )
+        ),
+        launch_arguments={
+            'name_space': LaunchConfiguration('name_space'),
+        }.items()
     )
     
     # Include the gait_generator launch file
@@ -32,7 +43,10 @@ def generate_launch_description():
     joints_aggregator_launch = IncludeLaunchDescription(
         PythonLaunchDescriptionSource(
             os.path.join(FindPackageShare('joints_aggregator').find('joints_aggregator'), 'launch', 'joints_aggregator.launch.py')
-        )
+        ),
+        launch_arguments={
+            'name_space': LaunchConfiguration('name_space'),
+        }.items()
     )
 
     # Include the penta_i2c_actuators launch file with the mode argument
@@ -40,29 +54,39 @@ def generate_launch_description():
         PythonLaunchDescriptionSource(
             os.path.join(FindPackageShare('penta_i2c_actuators').find('penta_i2c_actuators'), 'launch', 'penta_i2c_actuators.launch.py')
         ),
-        launch_arguments={'mode': mode}.items()  # Pass the mode argument
+        launch_arguments={
+            'mode': LaunchConfiguration('mode'),
+            'name_space': LaunchConfiguration('name_space'),
+            }.items()  # Pass the argyments
     )
 
     # Include the null space cmd publisher launch file
-    # null_space_publisher = IncludeLaunchDescription(
-    #     PythonLaunchDescriptionSource(
-    #         os.path.join(FindPackageShare('base_twerk').find('base_twerk'), 'launch', 'null_pose_publisher.launch.py')
-    #     )
-    # )
+    null_space_publisher = IncludeLaunchDescription(
+        PythonLaunchDescriptionSource(
+            os.path.join(FindPackageShare('base_twerk').find('base_twerk'), 'launch', 'null_pose_publisher.launch.py')
+        ),
+        launch_arguments={
+            'name_space': LaunchConfiguration('name_space'),
+        }.items()
+    )
 
     # Include the twerk action server launch file
-    # twerk_action_server = IncludeLaunchDescription(
-    #     PythonLaunchDescriptionSource(
-    #         os.path.join(FindPackageShare('base_twerk').find('base_twerk'), 'launch', 'base_twerk_action_server.launch.py')
-    #     )
-    # )
+    twerk_action_server = IncludeLaunchDescription(
+        PythonLaunchDescriptionSource(
+            os.path.join(FindPackageShare('base_twerk').find('base_twerk'), 'launch', 'base_twerk_action_server.launch.py')
+        ),
+        launch_arguments={
+            'name_space': LaunchConfiguration('name_space'),
+        }.items()
+    )
 
     return LaunchDescription([
+        name_space_arg,
         mode_arg,
         penta_pod_launch,
         gait_generator_launch,
         joints_aggregator_launch,
         penta_i2c_actuators_launch,
-        # null_space_publisher,
-        # twerk_action_server
+        null_space_publisher,
+        twerk_action_server
     ])

From c2025d7cef587eba24b77d1b3fc4ffa4143906b7 Mon Sep 17 00:00:00 2001
From: "Safeea, Mohammad" <mohammad.safeea@hilti.com>
Date: Sun, 11 May 2025 17:58:09 +0200
Subject: [PATCH 23/58] update reamde

---
 README.md | 64 ++++++++++++++++++++++++++++++++++++++++++++++++++++++-
 1 file changed, 63 insertions(+), 1 deletion(-)

diff --git a/README.md b/README.md
index 7b5459e..a13d022 100644
--- a/README.md
+++ b/README.md
@@ -140,4 +140,66 @@ cd ..
 source install/setup.bash
 
 ros2 launch penta_pod penta_pod.launch.py
-```
\ No newline at end of file
+```
+
+
+# Swarm of robots on same network
+
+You can create a swarm of the real robot, all of them connected to eachothers sharing the same network, each robot will be distnguished by its own namespace as the following:
+
+For 'robot1'
+
+```
+ros2 launch penta_pod realhardware_bringup.launch.py name_space:=robot1 mode:=real
+
+```
+
+For 'robot2'
+
+```
+ros2 launch penta_pod realhardware_bringup.launch.py name_space:=robot2 mode:=real
+
+```
+
+You can check that the topics are in the namespace, same for services and actions, you can use rqt introspection to show the ndoes graph.
+
+```
+~/ros_ws# ros2 topic list
+/parameter_events
+/robot1/actuator_setpoint_degree
+/robot1/cmd_vel
+/robot1/joint_setpoints
+/robot1/joy
+/robot1/joy/set_feedback
+/robot1/limb0/joint_setpoints
+/robot1/limb0/xyz_msg
+/robot1/limb1/joint_setpoints
+/robot1/limb1/xyz_msg
+/robot1/limb2/joint_setpoints
+/robot1/limb2/xyz_msg
+/robot1/limb3/joint_setpoints
+/robot1/limb3/xyz_msg
+/robot1/limb4/joint_setpoints
+/robot1/limb4/xyz_msg
+/robot1/null_space_pose
+/robot2/actuator_setpoint_degree
+/robot2/cmd_vel
+/robot2/joint_setpoints
+/robot2/joy
+/robot2/joy/set_feedback
+/robot2/limb0/joint_setpoints
+/robot2/limb0/xyz_msg
+/robot2/limb1/joint_setpoints
+/robot2/limb1/xyz_msg
+/robot2/limb2/joint_setpoints
+/robot2/limb2/xyz_msg
+/robot2/limb3/joint_setpoints
+/robot2/limb3/xyz_msg
+/robot2/limb4/joint_setpoints
+/robot2/limb4/xyz_msg
+/robot2/null_space_pose
+/rosout
+/tf
+```
+
+You can publish on `/robot1/cmd_vel` to control first robot, and on `robot2/cmd_vel` to control second robot and so forth. If you do not have real robot you can use `mode:=virtual` and test
\ No newline at end of file

From eb0f8abfa4a9fb63fc02f9590528cce5828fc740 Mon Sep 17 00:00:00 2001
From: "Safeea, Mohammad" <mohammad.safeea@hilti.com>
Date: Sat, 24 May 2025 20:34:40 +0200
Subject: [PATCH 24/58] move gazebo simulation to separate folder

---
 .../penta_gazebo_sim/CMakeLists.txt           |  28 ++++
 .../launch/penta_gazebo.launch.py             | 111 +++++++++++++
 .../launch/penta_sim_full_gazebo.launch.py    | 147 ++++++++++++++++++
 penta_gazebo_sim/penta_gazebo_sim/package.xml |  20 +++
 .../penta_gazebo_world/CMakeLists.txt         |  28 ++++
 .../penta_gazebo_world/package.xml            |  20 +++
 .../worlds/penta_gazebo_world.world           |  49 ++++++
 7 files changed, 403 insertions(+)
 create mode 100644 penta_gazebo_sim/penta_gazebo_sim/CMakeLists.txt
 create mode 100644 penta_gazebo_sim/penta_gazebo_sim/launch/penta_gazebo.launch.py
 create mode 100644 penta_gazebo_sim/penta_gazebo_sim/launch/penta_sim_full_gazebo.launch.py
 create mode 100644 penta_gazebo_sim/penta_gazebo_sim/package.xml
 create mode 100644 penta_gazebo_sim/penta_gazebo_world/CMakeLists.txt
 create mode 100644 penta_gazebo_sim/penta_gazebo_world/package.xml
 create mode 100644 penta_gazebo_sim/penta_gazebo_world/worlds/penta_gazebo_world.world

diff --git a/penta_gazebo_sim/penta_gazebo_sim/CMakeLists.txt b/penta_gazebo_sim/penta_gazebo_sim/CMakeLists.txt
new file mode 100644
index 0000000..004ea5c
--- /dev/null
+++ b/penta_gazebo_sim/penta_gazebo_sim/CMakeLists.txt
@@ -0,0 +1,28 @@
+cmake_minimum_required(VERSION 3.8)
+project(penta_gazebo_sim)
+
+if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
+  add_compile_options(-Wall -Wextra -Wpedantic)
+endif()
+
+# find dependencies
+find_package(ament_cmake REQUIRED)
+find_package(gazebo_ros REQUIRED)
+
+install(DIRECTORY launch
+  DESTINATION share/${PROJECT_NAME}
+)
+
+if(BUILD_TESTING)
+  find_package(ament_lint_auto REQUIRED)
+  # the following line skips the linter which checks for copyrights
+  # comment the line when a copyright and license is added to all source files
+  set(ament_cmake_copyright_FOUND TRUE)
+  # the following line skips cpplint (only works in a git repo)
+  # comment the line when this package is in a git repo and when
+  # a copyright and license is added to all source files
+  set(ament_cmake_cpplint_FOUND TRUE)
+  ament_lint_auto_find_test_dependencies()
+endif()
+
+ament_package()
diff --git a/penta_gazebo_sim/penta_gazebo_sim/launch/penta_gazebo.launch.py b/penta_gazebo_sim/penta_gazebo_sim/launch/penta_gazebo.launch.py
new file mode 100644
index 0000000..f283112
--- /dev/null
+++ b/penta_gazebo_sim/penta_gazebo_sim/launch/penta_gazebo.launch.py
@@ -0,0 +1,111 @@
+from launch import LaunchDescription
+from launch_ros.actions import Node
+from launch.actions import (
+    ExecuteProcess,
+    IncludeLaunchDescription,
+    RegisterEventHandler,
+)
+from launch.launch_description_sources import PythonLaunchDescriptionSource
+from launch.event_handlers import OnProcessExit
+from ament_index_python.packages import get_package_share_directory
+import os
+
+
+def generate_launch_description():
+    # Paths
+    penta_pkg = get_package_share_directory("penta_pod")
+    gazebo_ros_pkg = get_package_share_directory("gazebo_ros")
+
+    # RViz
+    penta_rviz_launch = IncludeLaunchDescription(
+        PythonLaunchDescriptionSource(
+            os.path.join(penta_pkg, "launch", "penta_rviz.launch.py")
+        ),
+        launch_arguments={
+            'joint_states_remappings': "/joint_states",
+        }.items()
+    )
+    
+    # Gazebo
+    gazebo_ros = IncludeLaunchDescription(
+        PythonLaunchDescriptionSource(
+            os.path.join(gazebo_ros_pkg, "launch", "gazebo.launch.py")
+        )
+    )
+
+    # Spawn robot into Gazebo
+    spawn_robot = Node(
+        package="gazebo_ros",
+        executable="spawn_entity.py",
+        name="spawn_robot",
+        output="screen",
+        arguments=["-entity", "penta_pod", "-topic", "/robot_description"],
+    )
+
+    # ros2_control
+    load_joint_state_controller = ExecuteProcess(
+        cmd=[
+            "ros2",
+            "control",
+            "load_controller",
+            "--set-state",
+            "active",
+            "joint_state_broadcaster",
+        ],
+        output="screen",
+    )
+
+    # load_joint_trajectory_controller = ExecuteProcess(
+    #     cmd=[
+    #         "ros2",
+    #         "control",
+    #         "load_controller",
+    #         "--set-state",
+    #         "active",
+    #         "joint_trajectory_controller",
+    #     ],
+    #     output="screen",
+    # )
+
+    # load_forward_position_controller = ExecuteProcess(
+    #     cmd=[
+    #         "ros2",
+    #         "run",
+    #         "controller_manager",
+    #         "--set-state",
+    #         "active",
+    #         "forward_position_controller",
+    #     ],
+    #     output="screen",
+    # )
+
+    penta_description_pkg = get_package_share_directory("penta_description")
+
+    forward_position_controller_spwaner_node = Node(
+        package="controller_manager",
+        executable="spawner",
+        name="forward_position_controller_spawner",
+        output="screen",
+        arguments=["forward_position_controller", "--param-file", os.path.join(penta_description_pkg, "config", "ros2_control_params.yaml")],
+    )
+
+
+    return LaunchDescription(
+        [
+            RegisterEventHandler(
+                event_handler=OnProcessExit(
+                    target_action=spawn_robot,
+                    on_exit=[load_joint_state_controller],
+                )
+            ),
+            RegisterEventHandler(
+                event_handler=OnProcessExit(
+                    target_action=load_joint_state_controller,
+                    on_exit=[forward_position_controller_spwaner_node],
+                )
+            ),
+            penta_rviz_launch,
+            gazebo_ros,
+            spawn_robot,
+        ]
+    )
diff --git a/penta_gazebo_sim/penta_gazebo_sim/launch/penta_sim_full_gazebo.launch.py b/penta_gazebo_sim/penta_gazebo_sim/launch/penta_sim_full_gazebo.launch.py
new file mode 100644
index 0000000..47a9f8f
--- /dev/null
+++ b/penta_gazebo_sim/penta_gazebo_sim/launch/penta_sim_full_gazebo.launch.py
@@ -0,0 +1,147 @@
+from launch import LaunchDescription
+from launch_ros.actions import Node
+from launch.actions import (
+    ExecuteProcess,
+    IncludeLaunchDescription,
+    RegisterEventHandler,
+    DeclareLaunchArgument,
+)
+from launch.launch_description_sources import PythonLaunchDescriptionSource
+from launch.event_handlers import OnProcessExit
+from ament_index_python.packages import get_package_share_directory
+import os
+from launch.substitutions import LaunchConfiguration
+
+
+def generate_launch_description():
+
+    ld = LaunchDescription()
+
+    """ Launch args """
+    name_space_arg = DeclareLaunchArgument(
+        "name_space",
+        default_value="",
+        description="Robot name space",
+    )
+    ld.add_action(name_space_arg)
+
+    # Launch rviz sim full
+    penta_rviz_sim_full = IncludeLaunchDescription(
+        PythonLaunchDescriptionSource(
+            os.path.join(
+                get_package_share_directory("penta_pod"),
+                "launch",
+                "penta_sim_full_rviz.launch.py",
+            )
+        ),
+        launch_arguments={
+            "name_space": LaunchConfiguration("name_space"),
+        }.items(),
+    )
+    ld.add_action(penta_rviz_sim_full)
+
+    # Paths
+    gazebo_ros_pkg = get_package_share_directory("gazebo_ros")
+
+    # Gazebo world path
+    world_pkg = get_package_share_directory("penta_gazebo_world")
+    gazebo_world_path = os.path.join(
+        world_pkg, "worlds", "penta_gazebo_world.world"
+    )
+    print(f"Gazebo world path: {gazebo_world_path}")
+    
+    # Gazebo
+    gazebo_ros = IncludeLaunchDescription(
+        PythonLaunchDescriptionSource(
+            os.path.join(gazebo_ros_pkg, "launch", "gazebo.launch.py")
+        ),
+        launch_arguments={
+            'world': gazebo_world_path
+        }.items()
+    )
+    ld.add_action(gazebo_ros)
+
+    # Spawn robot into Gazebo
+    print("ToDo: when using several robots, add name_space to the robot description")
+    spawn_robot = Node(
+        package="gazebo_ros",
+        executable="spawn_entity.py",
+        name="spawn_robot",
+        output="screen",
+        arguments=[
+            "-entity",
+            "penta_pod",
+            "-topic",
+            "/robot_description",
+            "-x",
+            "0.0",
+            "-y",
+            "0.0",
+            "-z",
+            "0.5",
+            "-Y",
+            "0.0",
+        ],
+    )
+    ld.add_action(spawn_robot)
+
+    # ros2_control
+    print(
+        "ToDo: @Mohammad, check how to fix with the joint states published by the penta_pod core implementation"
+    )
+    load_joint_state_broadcaster = ExecuteProcess(
+        cmd=[
+            "ros2",
+            "control",
+            "load_controller",
+            "--set-state",
+            "active",
+            "joint_state_broadcaster",
+        ],
+        output="screen",
+    )
+    joint_state_after_robot_spawned = RegisterEventHandler(
+        event_handler=OnProcessExit(
+            target_action=spawn_robot,
+            on_exit=[load_joint_state_broadcaster],
+        )
+    )
+    ld.add_action(joint_state_after_robot_spawned)
+
+    penta_description_pkg = get_package_share_directory("penta_description")
+
+    forward_position_controller_spawner_node = Node(
+        package="controller_manager",
+        executable="spawner",
+        name="forward_position_controller_spawner",
+        output="screen",
+        arguments=[
+            "forward_position_controller",
+            "--param-file",
+            os.path.join(penta_description_pkg, "config", "ros2_control_params.yaml"),
+        ],
+    )
+    forward_position_controller_after_joint_state_broadcaster = RegisterEventHandler(
+        event_handler=OnProcessExit(
+            target_action=load_joint_state_broadcaster,
+            on_exit=[forward_position_controller_spawner_node],
+        )
+    )
+    ld.add_action(forward_position_controller_after_joint_state_broadcaster)
+
+    # Include the bridge
+    set_point_to_forward_position_controller = IncludeLaunchDescription(
+        PythonLaunchDescriptionSource(
+            os.path.join(
+                get_package_share_directory("ros_to_ros2_control_command_bridge"),
+                "launch",
+                "forward_joint_command_bridge.launch.py",
+            )
+        ),
+        launch_arguments={
+            "name_space": LaunchConfiguration("name_space"),
+        }.items(),
+    )
+    ld.add_action(set_point_to_forward_position_controller)
+
+    return ld
diff --git a/penta_gazebo_sim/penta_gazebo_sim/package.xml b/penta_gazebo_sim/penta_gazebo_sim/package.xml
new file mode 100644
index 0000000..086b084
--- /dev/null
+++ b/penta_gazebo_sim/penta_gazebo_sim/package.xml
@@ -0,0 +1,20 @@
+<?xml version="1.0"?>
+<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
+<package format="3">
+  <name>penta_gazebo_sim</name>
+  <version>0.0.0</version>
+  <description>TODO: Package description</description>
+  <maintainer email="mohammad.safeea@hilti.com">modi</maintainer>
+  <license>TODO: License declaration</license>
+
+  <buildtool_depend>ament_cmake</buildtool_depend>
+
+  <depend>gazebo_ros</depend>
+
+  <test_depend>ament_lint_auto</test_depend>
+  <test_depend>ament_lint_common</test_depend>
+
+  <export>
+    <build_type>ament_cmake</build_type>
+  </export>
+</package>
diff --git a/penta_gazebo_sim/penta_gazebo_world/CMakeLists.txt b/penta_gazebo_sim/penta_gazebo_world/CMakeLists.txt
new file mode 100644
index 0000000..68fccb8
--- /dev/null
+++ b/penta_gazebo_sim/penta_gazebo_world/CMakeLists.txt
@@ -0,0 +1,28 @@
+cmake_minimum_required(VERSION 3.8)
+project(penta_gazebo_world)
+
+if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
+  add_compile_options(-Wall -Wextra -Wpedantic)
+endif()
+
+# find dependencies
+find_package(ament_cmake REQUIRED)
+find_package(gazebo_ros REQUIRED)
+
+install(DIRECTORY worlds
+  DESTINATION share/${PROJECT_NAME}
+)
+
+if(BUILD_TESTING)
+  find_package(ament_lint_auto REQUIRED)
+  # the following line skips the linter which checks for copyrights
+  # comment the line when a copyright and license is added to all source files
+  set(ament_cmake_copyright_FOUND TRUE)
+  # the following line skips cpplint (only works in a git repo)
+  # comment the line when this package is in a git repo and when
+  # a copyright and license is added to all source files
+  set(ament_cmake_cpplint_FOUND TRUE)
+  ament_lint_auto_find_test_dependencies()
+endif()
+
+ament_package()
diff --git a/penta_gazebo_sim/penta_gazebo_world/package.xml b/penta_gazebo_sim/penta_gazebo_world/package.xml
new file mode 100644
index 0000000..c650c99
--- /dev/null
+++ b/penta_gazebo_sim/penta_gazebo_world/package.xml
@@ -0,0 +1,20 @@
+<?xml version="1.0"?>
+<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
+<package format="3">
+  <name>penta_gazebo_world</name>
+  <version>0.0.0</version>
+  <description>TODO: Package description</description>
+  <maintainer email="mohammad.safeea@hilti.com">modi</maintainer>
+  <license>TODO: License declaration</license>
+
+  <buildtool_depend>ament_cmake</buildtool_depend>
+
+  <depend>gazebo_ros</depend>
+
+  <test_depend>ament_lint_auto</test_depend>
+  <test_depend>ament_lint_common</test_depend>
+
+  <export>
+    <build_type>ament_cmake</build_type>
+  </export>
+</package>
diff --git a/penta_gazebo_sim/penta_gazebo_world/worlds/penta_gazebo_world.world b/penta_gazebo_sim/penta_gazebo_world/worlds/penta_gazebo_world.world
new file mode 100644
index 0000000..a619cee
--- /dev/null
+++ b/penta_gazebo_sim/penta_gazebo_world/worlds/penta_gazebo_world.world
@@ -0,0 +1,49 @@
+<?xml version="1.0" ?>
+<sdf version="1.6">
+  <world name="penta_test_world">
+
+    <include>
+      <uri>model://ground_plane</uri>
+    </include>
+
+    <!-- Light source -->
+    <include>
+      <uri>model://sun</uri>
+    </include>
+
+    <!-- Physics settings -->
+    <physics name="default_physics" type="ode">
+      <max_step_size>0.001</max_step_size>
+      <real_time_update_rate>1000</real_time_update_rate>
+      <gravity>0 0 -9.81</gravity>
+      <ode>
+        <solver>
+          <type>quick</type>
+          <iters>300</iters>
+          <sor>1.3</sor>
+          <friction_model>pyramid_model</friction_model>
+        </solver>
+        <constraints>
+          <cfm>0.00001</cfm>
+          <erp>0.2</erp>
+          <contact_max_correcting_vel>1.0</contact_max_correcting_vel>
+          <contact_surface_layer>0.001</contact_surface_layer>
+        </constraints>
+      </ode>
+    </physics>
+    
+    <!-- physics name="bullet_physics" type="bullet">
+      <max_step_size>0.001</max_step_size>
+      <real_time_update_rate>1000</real_time_update_rate>
+      <gravity>0 0 -9.81</gravity>
+      <bullet>
+        <solver_type>sequential_impulse</solver_type>
+        <num_solver_iterations>100</num_solver_iterations>
+        <contact_surface_layer>0.001</contact_surface_layer>
+        <split_impulse>true</split_impulse>
+        <split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
+      </bullet>
+    </physics -->
+
+  </world>
+</sdf>

From 17c60e715838eb6c85feb5b4061c3f518005d8eb Mon Sep 17 00:00:00 2001
From: "Safeea, Mohammad" <mohammad.safeea@hilti.com>
Date: Sat, 24 May 2025 20:35:55 +0200
Subject: [PATCH 25/58] remove gazebo sim launch file from core package

---
 penta_pod/launch/penta_gazebo.launch.py | 88 -------------------------
 1 file changed, 88 deletions(-)
 delete mode 100644 penta_pod/launch/penta_gazebo.launch.py

diff --git a/penta_pod/launch/penta_gazebo.launch.py b/penta_pod/launch/penta_gazebo.launch.py
deleted file mode 100644
index e75b3f4..0000000
--- a/penta_pod/launch/penta_gazebo.launch.py
+++ /dev/null
@@ -1,88 +0,0 @@
-from launch import LaunchDescription
-from launch_ros.actions import Node
-from launch.actions import (
-    ExecuteProcess,
-    IncludeLaunchDescription,
-    RegisterEventHandler,
-)
-from launch.launch_description_sources import PythonLaunchDescriptionSource
-from launch.event_handlers import OnProcessExit
-from ament_index_python.packages import get_package_share_directory
-import os
-
-
-def generate_launch_description():
-    # Paths
-    penta_pkg = get_package_share_directory("penta_pod")
-    gazebo_ros_pkg = get_package_share_directory("gazebo_ros")
-
-    # RViz
-    penta_rviz_launch = IncludeLaunchDescription(
-        PythonLaunchDescriptionSource(
-            os.path.join(penta_pkg, "launch", "penta_rviz.launch.py")
-        ),
-        launch_arguments={
-            'joint_states_remappings': "/joint_states",
-        }.items()
-    )
-
-    # Gazebo
-    gazebo_ros = IncludeLaunchDescription(
-        PythonLaunchDescriptionSource(
-            os.path.join(gazebo_ros_pkg, "launch", "gazebo.launch.py")
-        )
-    )
-
-    # Spawn robot into Gazebo
-    spawn_robot = Node(
-        package="gazebo_ros",
-        executable="spawn_entity.py",
-        name="spawn_robot",
-        output="screen",
-        arguments=["-entity", "penta_pod", "-topic", "/robot_description"],
-    )
-
-    # ros2_control
-    load_joint_state_controller = ExecuteProcess(
-        cmd=[
-            "ros2",
-            "control",
-            "load_controller",
-            "--set-state",
-            "active",
-            "joint_state_broadcaster",
-        ],
-        output="screen",
-    )
-
-    load_joint_trajectory_controller = ExecuteProcess(
-        cmd=[
-            "ros2",
-            "control",
-            "load_controller",
-            "--set-state",
-            "active",
-            "joint_trajectory_controller",
-        ],
-        output="screen",
-    )
-
-    return LaunchDescription(
-        [
-            RegisterEventHandler(
-                event_handler=OnProcessExit(
-                    target_action=spawn_robot,
-                    on_exit=[load_joint_state_controller],
-                )
-            ),
-            RegisterEventHandler(
-                event_handler=OnProcessExit(
-                    target_action=load_joint_state_controller,
-                    on_exit=[load_joint_trajectory_controller],
-                )
-            ),
-            penta_rviz_launch,
-            gazebo_ros,
-            spawn_robot,
-        ]
-    )

From 23750810e40f8dc5290a4563976bc11c66d405dd Mon Sep 17 00:00:00 2001
From: "Safeea, Mohammad" <mohammad.safeea@hilti.com>
Date: Sat, 24 May 2025 20:38:50 +0200
Subject: [PATCH 26/58] add forward_position_controller

---
 .../config/ros2_control_params.yaml           | 23 +++++++++++++++++++
 1 file changed, 23 insertions(+)

diff --git a/penta_description/config/ros2_control_params.yaml b/penta_description/config/ros2_control_params.yaml
index 91d26de..90193be 100644
--- a/penta_description/config/ros2_control_params.yaml
+++ b/penta_description/config/ros2_control_params.yaml
@@ -7,6 +7,9 @@ controller_manager:
 
     joint_state_broadcaster:
       type: joint_state_broadcaster/JointStateBroadcaster
+    
+    forward_position_controller:
+      type: forward_command_controller/ForwardCommandController
 
 joint_trajectory_controller:
   ros__parameters:
@@ -41,3 +44,23 @@ joint_trajectory_controller:
     #     trajectory: 0.2
     #     goal: 0.1
       # ... Add constraints for each joint as needed
+
+forward_position_controller:
+  ros__parameters:
+    joints:
+      - limb0/joint0
+      - limb0/joint1
+      - limb0/joint2
+      - limb1/joint0
+      - limb1/joint1
+      - limb1/joint2
+      - limb2/joint0
+      - limb2/joint1
+      - limb2/joint2
+      - limb3/joint0
+      - limb3/joint1
+      - limb3/joint2
+      - limb4/joint0
+      - limb4/joint1
+      - limb4/joint2
+    interface_name: position
\ No newline at end of file

From a96caf268f49749f6032dff5d61e1ead85c970f3 Mon Sep 17 00:00:00 2001
From: "Safeea, Mohammad" <mohammad.safeea@hilti.com>
Date: Sat, 24 May 2025 20:39:25 +0200
Subject: [PATCH 27/58] add foot to the xacro

---
 penta_description/urdf/single_limb.urdf.xacro | 56 ++++++++++++++++---
 1 file changed, 49 insertions(+), 7 deletions(-)

diff --git a/penta_description/urdf/single_limb.urdf.xacro b/penta_description/urdf/single_limb.urdf.xacro
index bcb10cd..1a696b0 100644
--- a/penta_description/urdf/single_limb.urdf.xacro
+++ b/penta_description/urdf/single_limb.urdf.xacro
@@ -53,15 +53,9 @@
         <geometry>
           <mesh filename="package://penta_description/meshes/visual/penta_stl_v1/Lower_arm.stl" scale="0.001 0.001 0.001"/>
         </geometry>
-        <origin xyz="0.0 0.0 0.0" rpy="-${PI2} ${PI2} 0.4"/>
+        <origin xyz="0.0 0.0 0.0" rpy="-${PI2} ${PI2} 0.41"/>
         <xacro:add_material_red/>
       </visual>
-      <collision>
-        <geometry>
-          <mesh filename="package://penta_description/meshes/visual/penta_stl_v1/Lower_arm.stl" scale="0.001 0.001 0.001"/>
-        </geometry>
-        <origin xyz="0.0 0.0 0.0" rpy="-${PI2} ${PI2} 0.4"/>
-      </collision>
       <inertial>
         <origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
         <mass value="1.0"/>
@@ -69,6 +63,48 @@
       </inertial>
     </link>
 
+    <link name="${prefix}_foot">
+      <visual>
+        <geometry>
+          <sphere radius="0.01"/>
+        </geometry>
+        <origin xyz="0.158 0.0 0.0" rpy="0.0 0.0 0.0"/>
+      </visual>
+      <inertial>
+        <origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
+        <mass value="0.1"/>
+        <inertia ixx="0.001" ixy="0" ixz="0" iyy="0.001" iyz="0" izz="0.001"/>
+      </inertial>
+      <collision>
+        <geometry>
+          <sphere radius="0.015"/>
+        </geometry>
+        <origin xyz="0.158 0.0 0.0" rpy="0.0 0.0 0.0"/>
+        <surface>
+            <friction>
+              <!-- this is for ODE -->
+              <ode>
+                <mu>2.0</mu>
+                <mu2>2.0</mu2>
+                <fdir1>1 0 0</fdir1>
+              </ode>
+              <!-- this is for Bullet -->
+              <bullet>
+                <friction>2.0</friction>
+              </bullet>           
+            </friction>
+            <contact>
+              <ode>
+                <kp>100000.0</kp>
+                <kd>100.0</kd>
+                <min_depth>0.001</min_depth>
+                <max_vel>0.1</max_vel>
+              </ode>
+            </contact>
+        </surface>
+      </collision>
+    </link>
+
     <joint name="${prefix}/joint_shoulder_motor" type="fixed">
       <parent link="base_link"/>
       <child link="${prefix}_shoulder_motor"/>
@@ -98,6 +134,12 @@
       <axis xyz="0 0 1" />
     </joint>
 
+    <joint name="${prefix}/joint3" type="fixed">
+      <parent link="${prefix}_lower_arm_link"/>
+      <child link="${prefix}_foot"/>
+      <origin xyz="0.0 0.0 0.0" rpy="0 0 0"/>
+    </joint>
+
     <!-- ros2_control interfaces for each joint -->
     <ros2_control name="${prefix}_ros2_control" type="system">
       <hardware>

From cdc81e6730d639a6d17ee0ebc2530728cd1aada1 Mon Sep 17 00:00:00 2001
From: "Safeea, Mohammad" <mohammad.safeea@hilti.com>
Date: Sat, 24 May 2025 20:39:46 +0200
Subject: [PATCH 28/58] bridge to be used for simulation

---
 .../CMakeLists.txt                            | 66 +++++++++++++++++++
 .../forward_joint_command_bridge.hpp          | 33 ++++++++++
 .../forward_joint_command_bridge.launch.py    | 33 ++++++++++
 .../package.xml                               | 22 +++++++
 .../src/forward_joint_command_bridge_node.cpp | 10 +++
 .../forward_joint_command_bridge.cpp          | 29 ++++++++
 6 files changed, 193 insertions(+)
 create mode 100644 ros_to_ros2_control_command_bridge/CMakeLists.txt
 create mode 100644 ros_to_ros2_control_command_bridge/include/ros_to_ros2_control_command_bridge/forward_joint_command_bridge.hpp
 create mode 100644 ros_to_ros2_control_command_bridge/launch/forward_joint_command_bridge.launch.py
 create mode 100644 ros_to_ros2_control_command_bridge/package.xml
 create mode 100644 ros_to_ros2_control_command_bridge/src/forward_joint_command_bridge_node.cpp
 create mode 100644 ros_to_ros2_control_command_bridge/src/ros_to_ros2_control_command_bridge/forward_joint_command_bridge.cpp

diff --git a/ros_to_ros2_control_command_bridge/CMakeLists.txt b/ros_to_ros2_control_command_bridge/CMakeLists.txt
new file mode 100644
index 0000000..8c17d6d
--- /dev/null
+++ b/ros_to_ros2_control_command_bridge/CMakeLists.txt
@@ -0,0 +1,66 @@
+cmake_minimum_required(VERSION 3.8)
+project(ros_to_ros2_control_command_bridge)
+
+if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
+  add_compile_options(-Wall -Wextra -Wpedantic)
+endif()
+
+# find dependencies
+find_package(ament_cmake REQUIRED)
+find_package(rclcpp REQUIRED)
+find_package(std_msgs REQUIRED)
+find_package(sensor_msgs REQUIRED)
+
+# Declare library
+add_library(${PROJECT_NAME}
+        src/${PROJECT_NAME}/forward_joint_command_bridge.cpp
+        )
+
+target_include_directories(${PROJECT_NAME}
+        PUBLIC
+        $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
+        $<INSTALL_INTERFACE:include>)
+
+ament_target_dependencies(${PROJECT_NAME}
+        rclcpp
+        std_msgs
+        sensor_msgs
+        )
+
+add_executable(forward_joint_command_bridge_node src/forward_joint_command_bridge_node.cpp)
+target_link_libraries(forward_joint_command_bridge_node
+        ${PROJECT_NAME}
+        )
+
+#############
+# ## Install ##
+#############
+install(
+        DIRECTORY include/
+        DESTINATION include
+        )
+
+install(TARGETS 
+        forward_joint_command_bridge_node
+        DESTINATION lib/${PROJECT_NAME}
+        )
+
+
+install(
+        DIRECTORY launch
+        DESTINATION share/${PROJECT_NAME}/
+        )
+##############
+if(BUILD_TESTING)
+  find_package(ament_lint_auto REQUIRED)
+  # the following line skips the linter which checks for copyrights
+  # comment the line when a copyright and license is added to all source files
+  set(ament_cmake_copyright_FOUND TRUE)
+  # the following line skips cpplint (only works in a git repo)
+  # comment the line when this package is in a git repo and when
+  # a copyright and license is added to all source files
+  set(ament_cmake_cpplint_FOUND TRUE)
+  ament_lint_auto_find_test_dependencies()
+endif()
+
+ament_package()
diff --git a/ros_to_ros2_control_command_bridge/include/ros_to_ros2_control_command_bridge/forward_joint_command_bridge.hpp b/ros_to_ros2_control_command_bridge/include/ros_to_ros2_control_command_bridge/forward_joint_command_bridge.hpp
new file mode 100644
index 0000000..74345e0
--- /dev/null
+++ b/ros_to_ros2_control_command_bridge/include/ros_to_ros2_control_command_bridge/forward_joint_command_bridge.hpp
@@ -0,0 +1,33 @@
+#ifndef ROS2_CONTROL_FORWARD_JOINT_COMMAND_BRIDGE_HPP
+#define ROS2_CONTROL_FORWARD_JOINT_COMMAND_BRIDGE_HPP
+
+#include "rclcpp/rclcpp.hpp"
+#include "sensor_msgs/msg/joint_state.hpp"
+#include "std_msgs/msg/float64_multi_array.hpp"
+
+namespace ros2_to_ros2_control_bridge
+{
+  class GazeboForwardJointCommandControlBridge
+  {
+      
+  public:
+    GazeboForwardJointCommandControlBridge();
+    ~GazeboForwardJointCommandControlBridge();
+    
+    void jointStateCallback(const sensor_msgs::msg::JointState::SharedPtr msg);
+    void publishJointCommands();
+
+    void spin()
+    {
+      rclcpp::spin(node_);
+    }
+
+  private:
+      rclcpp::Node::SharedPtr node_;
+
+      rclcpp::Publisher<std_msgs::msg::Float64MultiArray>::SharedPtr joint_command_publisher_;
+      rclcpp::Subscription<sensor_msgs::msg::JointState>::SharedPtr joint_state_subscription_;
+  };
+}
+
+#endif  // ROS2_CONTROL_FORWARD_JOINT_COMMAND_BRIDGE_HPP
\ No newline at end of file
diff --git a/ros_to_ros2_control_command_bridge/launch/forward_joint_command_bridge.launch.py b/ros_to_ros2_control_command_bridge/launch/forward_joint_command_bridge.launch.py
new file mode 100644
index 0000000..c429b3e
--- /dev/null
+++ b/ros_to_ros2_control_command_bridge/launch/forward_joint_command_bridge.launch.py
@@ -0,0 +1,33 @@
+import launch
+from launch_ros.actions import Node
+from launch.actions import DeclareLaunchArgument
+from ament_index_python.packages import get_package_share_directory
+
+
+def generate_launch_description():
+
+    ld = launch.LaunchDescription()
+
+    """ Launch args """
+    name_space_arg = DeclareLaunchArgument(
+        "name_space",
+        default_value="",
+        description="Robot name space",
+    )
+    ld.add_action(name_space_arg)
+
+    setpoint_to_frward_joint_position = Node(
+        package="ros_to_ros2_control_command_bridge",
+        executable="forward_joint_command_bridge_node",
+        output="both",
+        remappings={
+            (
+                "forward_position_controller/commands",
+                "/forward_position_controller/commands",
+            ),  # this is for the output topic
+            ("joint_setpoints", "/joint_setpoints"),
+        },  # this is for the input topic
+    )
+    ld.add_action(setpoint_to_frward_joint_position)
+
+    return ld
diff --git a/ros_to_ros2_control_command_bridge/package.xml b/ros_to_ros2_control_command_bridge/package.xml
new file mode 100644
index 0000000..32017db
--- /dev/null
+++ b/ros_to_ros2_control_command_bridge/package.xml
@@ -0,0 +1,22 @@
+<?xml version="1.0"?>
+<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
+<package format="3">
+  <name>ros_to_ros2_control_command_bridge</name>
+  <version>0.0.0</version>
+  <description>TODO: Package description</description>
+  <maintainer email="mohammad.safeea@hilti.com">modi</maintainer>
+  <license>TODO: License declaration</license>
+
+  <depend>rclcpp</depend>
+  <depend>std_msgs</depend>
+  <depend>sensor_msgs</depend>
+
+  <buildtool_depend>ament_cmake</buildtool_depend>
+
+  <test_depend>ament_lint_auto</test_depend>
+  <test_depend>ament_lint_common</test_depend>
+
+  <export>
+    <build_type>ament_cmake</build_type>
+  </export>
+</package>
diff --git a/ros_to_ros2_control_command_bridge/src/forward_joint_command_bridge_node.cpp b/ros_to_ros2_control_command_bridge/src/forward_joint_command_bridge_node.cpp
new file mode 100644
index 0000000..5b0ff74
--- /dev/null
+++ b/ros_to_ros2_control_command_bridge/src/forward_joint_command_bridge_node.cpp
@@ -0,0 +1,10 @@
+#include "ros_to_ros2_control_command_bridge/forward_joint_command_bridge.hpp"
+
+int main(int argc, char **argv)
+{
+    rclcpp::init(argc, argv);
+    auto bridge = std::make_shared<ros2_to_ros2_control_bridge::GazeboForwardJointCommandControlBridge>();
+    bridge->spin();
+    rclcpp::shutdown();
+    return 0;
+}
\ No newline at end of file
diff --git a/ros_to_ros2_control_command_bridge/src/ros_to_ros2_control_command_bridge/forward_joint_command_bridge.cpp b/ros_to_ros2_control_command_bridge/src/ros_to_ros2_control_command_bridge/forward_joint_command_bridge.cpp
new file mode 100644
index 0000000..84678aa
--- /dev/null
+++ b/ros_to_ros2_control_command_bridge/src/ros_to_ros2_control_command_bridge/forward_joint_command_bridge.cpp
@@ -0,0 +1,29 @@
+#include "ros_to_ros2_control_command_bridge/forward_joint_command_bridge.hpp"
+
+namespace ros2_to_ros2_control_bridge
+{
+GazeboForwardJointCommandControlBridge::GazeboForwardJointCommandControlBridge() : 
+    node_(rclcpp::Node::make_shared("gazebo_forward_joint_command_control_bridge")) {
+    joint_command_publisher_ = node_->create_publisher<std_msgs::msg::Float64MultiArray>("forward_position_controller/commands", 10);
+    joint_state_subscription_ = node_->create_subscription<sensor_msgs::msg::JointState>(
+        "joint_setpoints", 10, [this](const sensor_msgs::msg::JointState::SharedPtr msg) {
+            this->jointStateCallback(msg);
+        });
+}
+
+GazeboForwardJointCommandControlBridge::~GazeboForwardJointCommandControlBridge()
+{
+    // Destructor logic if needed
+}
+
+void GazeboForwardJointCommandControlBridge::jointStateCallback(const sensor_msgs::msg::JointState::SharedPtr msg)
+{
+    // Process the joint state message and prepare commands
+    std_msgs::msg::Float64MultiArray joint_commands;
+    joint_commands.data = msg->position;  // Example: forwarding position as command
+
+    // Publish the joint commands
+    joint_command_publisher_->publish(joint_commands);
+}
+
+}
\ No newline at end of file

From 62f3932b7dea2eda446c7ee4564bfd908c487e76 Mon Sep 17 00:00:00 2001
From: "Safeea, Mohammad" <mohammad.safeea@hilti.com>
Date: Sat, 24 May 2025 20:40:23 +0200
Subject: [PATCH 29/58] update readme with new gazebo simulation

---
 README.md | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/README.md b/README.md
index a13d022..329b870 100644
--- a/README.md
+++ b/README.md
@@ -95,7 +95,7 @@ ros2 run teleop_twist_keyboard teleop_twist_keyboard
 You can also run a gazebo simulation using
 
 ```
-ros2 launch penta_pod penta_gazebo.launch.py
+ros2 launch penta_gazebo_sim penta_sim_full_gazebo.launch.py
 ```
 
 ## Using devcontainers

From 38ebbd64365c859e9aabc63a811b1d959e4e0b15 Mon Sep 17 00:00:00 2001
From: "Safeea, Mohammad" <mohammad.safeea@hilti.com>
Date: Sat, 24 May 2025 20:45:27 +0200
Subject: [PATCH 30/58] rename root folder

---
 README.md | 12 ++++++------
 1 file changed, 6 insertions(+), 6 deletions(-)

diff --git a/README.md b/README.md
index 329b870..46da11f 100644
--- a/README.md
+++ b/README.md
@@ -1,7 +1,7 @@
 [![Powered by Dev Containers](https://img.shields.io/badge/Powered%20by-Dev%20Containers-blue?logo=devcontainers&logoColor=white)](https://containers.dev/)
 
 
-# Scorpion
+# Pentapod
 
 This is a ROS2 software for the following older project [youtube video available here.](https://youtu.be/kcvJR5mcb1o?si=lxt_06UO4189CPcX)
 
@@ -21,9 +21,9 @@ cd ~/my_ws/src
 Clone the repo
 
 ```
-git clone git@github.com:Modi1987/scorpion.git
+git clone git@github.com:Modi1987/pentapod.git
 
-cd scorpion
+cd pentapod
 
 git checkout i2c_actuators
 ```
@@ -31,7 +31,7 @@ git checkout i2c_actuators
 There are bash scripts that will allow you to build your workspace you can do this on your PC if you want to run RVIZ simulations, or on Raspberry-pi4 if you want to run on real-robot
 
 ```
-cd ~/my_ws/src/scorpion/scripts
+cd ~/my_ws/src/pentapod/scripts
 
 ./setup_penta_workspace.sh
 ```
@@ -41,7 +41,7 @@ cd ~/my_ws/src/scorpion/scripts
 besides to the previous steps to setup your workspace, to control the real-robot you will need to configure the i2c bus on Raspberry-pi 4, to do so on the Raspberry-pi 4:
 
 ```
-cd ~/my_ws/src/scorpion/scripts
+cd ~/my_ws/src/pentapod/scripts
 
 ./setup_i2c_on_raspberry_pi4.sh
 ```
@@ -69,7 +69,7 @@ ros2 run teleop_twist_keyboard teleop_twist_keyboard
 To bring-up the robot automatically each time you boot the robot (without having to launch the brinup manually), run the following script on the Raspberry Pi
 
 ```
-cd ~/my_ws/src/scorpion/scripts
+cd ~/my_ws/src/pentapod/scripts
 
 ./setup_service_penta_bringup_on_boot.sh
 ```

From 80cf31b6b49734c03a23b7ed075f795526054999 Mon Sep 17 00:00:00 2001
From: "Safeea, Mohammad" <mohammad.safeea@hilti.com>
Date: Sun, 25 May 2025 09:08:02 +0200
Subject: [PATCH 31/58] option to publish joints angles on startup

---
 .../joints_aggregator/joints_aggregator.hpp   |  1 +
 .../joints_aggregator/joints_aggregator.cpp   | 31 ++++++++++++++++---
 2 files changed, 27 insertions(+), 5 deletions(-)

diff --git a/joints_aggregator/include/joints_aggregator/joints_aggregator.hpp b/joints_aggregator/include/joints_aggregator/joints_aggregator.hpp
index 6cba46c..a812677 100644
--- a/joints_aggregator/include/joints_aggregator/joints_aggregator.hpp
+++ b/joints_aggregator/include/joints_aggregator/joints_aggregator.hpp
@@ -34,6 +34,7 @@ class JointsAggregator {
   int limbs_num_;
   std::vector<long int> joints_per_limb_;
   int update_interval_millis_;
+  int number_of_messages_forcely_published_on_startup_ {0};
   int publish_on_startup_counter_ {0};
   bool publish_joints_only_on_value_change_{false};
 
diff --git a/joints_aggregator/src/joints_aggregator/joints_aggregator.cpp b/joints_aggregator/src/joints_aggregator/joints_aggregator.cpp
index 387646c..b8a5e7d 100644
--- a/joints_aggregator/src/joints_aggregator/joints_aggregator.cpp
+++ b/joints_aggregator/src/joints_aggregator/joints_aggregator.cpp
@@ -36,7 +36,8 @@ JointsAggregator::JointsAggregator()
   this->previous_q_ = std::vector<double>(joints_count, 0.);
 
   joint_state_publisher_ =
-      node_->create_publisher<sensor_msgs::msg::JointState>("joint_setpoints", 10);
+      node_->create_publisher<sensor_msgs::msg::JointState>("joint_setpoints",
+                                                            10);
 
   for (int i = 0; i < limbs_num_; i++) {
     std::string topic_string = "limb" + std::to_string(i) + "/joint_setpoints";
@@ -65,8 +66,8 @@ JointsAggregator::JointsAggregator()
 
         // publish logic
         auto force_publish_on_startup = [this]() -> bool {
-          constexpr long times_to_publish_on_startup = 1000;
-          if (publish_on_startup_counter_ < times_to_publish_on_startup) {
+          if (publish_on_startup_counter_ <
+              number_of_messages_forcely_published_on_startup_) {
             publish_on_startup_counter_++;
             return true;
           }
@@ -108,6 +109,10 @@ void JointsAggregator::declare_parameters() {
   // publish only on value change
   node_->declare_parameter<bool>(
       "joints_aggregator.publish_joints_only_on_value_change");
+  // number of messages forcely published on startup
+  node_->declare_parameter<int>(
+      "joints_aggregator.number_of_messages_forcely_published_on_startup",
+      0);
 }
 
 auto JointsAggregator::get_parameters() -> bool {
@@ -175,14 +180,30 @@ auto JointsAggregator::get_parameters() -> bool {
           publish_joints_only_on_value_change_)) {
     RCLCPP_INFO_STREAM(
         node_->get_logger(),
-        "loaded joints_aggregator.publish_joints_only_on_value_change) is: "
+        "loaded joints_aggregator.publish_joints_only_on_value_change: "
             << publish_joints_only_on_value_change_);
   } else {
     RCLCPP_ERROR(
         node_->get_logger(),
         "ERROR, can not load "
         "joints_aggregator.publish_joints_only_on_value_change parameter");
-    rclcpp::shutdown();
+    return false;
+  }
+  // load number_of_messages_forcely_published_on_startup_
+  if (node_->get_parameter(
+          "joints_aggregator.number_of_messages_forcely_published_on_startup",
+          number_of_messages_forcely_published_on_startup_)) {
+    RCLCPP_INFO_STREAM(
+        node_->get_logger(),
+        "loaded "
+        "joints_aggregator.number_of_messages_forcely_published_on_startup: "
+            << number_of_messages_forcely_published_on_startup_);
+  } else {
+    RCLCPP_ERROR(
+        node_->get_logger(),
+        "ERROR, can not load "
+        "joints_aggregator.number_of_messages_forcely_published_on_startup "
+        "parameter");
     return false;
   }
 

From 55ba166f58777a0fabdf66ff0620b24396708078 Mon Sep 17 00:00:00 2001
From: "Safeea, Mohammad" <mohammad.safeea@hilti.com>
Date: Sun, 25 May 2025 09:11:08 +0200
Subject: [PATCH 32/58] updates

---
 penta_description/config/general_config.yaml | 9 +++++++--
 1 file changed, 7 insertions(+), 2 deletions(-)

diff --git a/penta_description/config/general_config.yaml b/penta_description/config/general_config.yaml
index 0194afe..ab94274 100644
--- a/penta_description/config/general_config.yaml
+++ b/penta_description/config/general_config.yaml
@@ -19,9 +19,13 @@
       0.06999234922592555, -0.21541430094085232, 0.0
     ]
     init_body_basefootprint_transform: [
-      0.0, 0.0, 0.158, 0.0, 0.0, 0.0, 1.0
+      # 0.0, 0.0, 0.158, 0.0, 0.0, 0.0, 1.0
+      0.0, 0.0, 0.0158, 0.0, 0.0, 0.0, 1.0
     ]
-    joint_angles_at_initial_pose_degree: [
+    joint_angles_at_initial_pose_degree: [ # this is to be used by the i2c_actuators_params
+    # when used on real hardware, make sure thet 
+    # init_body_basefootprint_transform is set to the correct value
+      # 0.0, 0.0, 0.158, 0.0, 0.0, 0.0, 1.0
       0.0, 0.0, 90.0,
       0.0, 0.0, 90.0,
       0.0, 0.0, 90.0,
@@ -41,6 +45,7 @@
     joints_aggregator:
       joints_update_interval_millis: 10
       publish_joints_only_on_value_change: true
+      number_of_messages_forcely_published_on_startup: 1000 # 0 means no messages will be published on startup
     base_twerk:
       base_frame_transform_update_interval_millis: 20
       action_server_service_call_interval_millis: 100

From b420fc6ea0d3064a9692d109d0126705b4c5760e Mon Sep 17 00:00:00 2001
From: "Safeea, Mohammad" <mohammad.safeea@hilti.com>
Date: Sun, 25 May 2025 09:11:21 +0200
Subject: [PATCH 33/58] use bullet

---
 penta_description/urdf/single_limb.urdf.xacro             | 6 ++++++
 .../penta_gazebo_world/worlds/penta_gazebo_world.world    | 8 ++++----
 2 files changed, 10 insertions(+), 4 deletions(-)

diff --git a/penta_description/urdf/single_limb.urdf.xacro b/penta_description/urdf/single_limb.urdf.xacro
index 1a696b0..b14f69c 100644
--- a/penta_description/urdf/single_limb.urdf.xacro
+++ b/penta_description/urdf/single_limb.urdf.xacro
@@ -100,6 +100,12 @@
                 <min_depth>0.001</min_depth>
                 <max_vel>0.1</max_vel>
               </ode>
+              <bullet>
+                <soft_cfm>0.0</soft_cfm>
+                <soft_erp>0.2</soft_erp>
+                <bounce>0.0</bounce>
+                <bounce_threshold>1.0</bounce_threshold>
+              </bullet>
             </contact>
         </surface>
       </collision>
diff --git a/penta_gazebo_sim/penta_gazebo_world/worlds/penta_gazebo_world.world b/penta_gazebo_sim/penta_gazebo_world/worlds/penta_gazebo_world.world
index a619cee..9af613e 100644
--- a/penta_gazebo_sim/penta_gazebo_world/worlds/penta_gazebo_world.world
+++ b/penta_gazebo_sim/penta_gazebo_world/worlds/penta_gazebo_world.world
@@ -12,7 +12,7 @@
     </include>
 
     <!-- Physics settings -->
-    <physics name="default_physics" type="ode">
+    <!-- physics name="default_physics" type="ode">
       <max_step_size>0.001</max_step_size>
       <real_time_update_rate>1000</real_time_update_rate>
       <gravity>0 0 -9.81</gravity>
@@ -30,9 +30,9 @@
           <contact_surface_layer>0.001</contact_surface_layer>
         </constraints>
       </ode>
-    </physics>
+    </physics -->
     
-    <!-- physics name="bullet_physics" type="bullet">
+    <physics name="bullet_physics" type="bullet">
       <max_step_size>0.001</max_step_size>
       <real_time_update_rate>1000</real_time_update_rate>
       <gravity>0 0 -9.81</gravity>
@@ -43,7 +43,7 @@
         <split_impulse>true</split_impulse>
         <split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
       </bullet>
-    </physics -->
+    </physics>
 
   </world>
 </sdf>

From 8b36fa5decde82480d3429c34d445d3ad8375a2f Mon Sep 17 00:00:00 2001
From: "Safeea, Mohammad" <mohammad.safeea@hilti.com>
Date: Sun, 25 May 2025 15:40:31 +0200
Subject: [PATCH 34/58] revert to table configuration, until we get better
 motors with good linearity

---
 penta_description/config/general_config.yaml | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/penta_description/config/general_config.yaml b/penta_description/config/general_config.yaml
index ab94274..5ef81e7 100644
--- a/penta_description/config/general_config.yaml
+++ b/penta_description/config/general_config.yaml
@@ -19,8 +19,8 @@
       0.06999234922592555, -0.21541430094085232, 0.0
     ]
     init_body_basefootprint_transform: [
-      # 0.0, 0.0, 0.158, 0.0, 0.0, 0.0, 1.0
-      0.0, 0.0, 0.0158, 0.0, 0.0, 0.0, 1.0
+      0.0, 0.0, 0.158, 0.0, 0.0, 0.0, 1.0
+      # 0.0, 0.0, 0.0158, 0.0, 0.0, 0.0, 1.0
     ]
     joint_angles_at_initial_pose_degree: [ # this is to be used by the i2c_actuators_params
     # when used on real hardware, make sure thet 

From aaba0642f36d23364e0853e155cf10b7fbf3fa8a Mon Sep 17 00:00:00 2001
From: "Safeea, Mohammad" <mohammad.safeea@hilti.com>
Date: Sun, 25 May 2025 16:13:21 +0200
Subject: [PATCH 35/58] fix

---
 penta_gazebo_sim/penta_gazebo_sim/package.xml   | 2 +-
 penta_gazebo_sim/penta_gazebo_world/package.xml | 2 +-
 ros_to_ros2_control_command_bridge/package.xml  | 2 +-
 3 files changed, 3 insertions(+), 3 deletions(-)

diff --git a/penta_gazebo_sim/penta_gazebo_sim/package.xml b/penta_gazebo_sim/penta_gazebo_sim/package.xml
index 086b084..56c1e90 100644
--- a/penta_gazebo_sim/penta_gazebo_sim/package.xml
+++ b/penta_gazebo_sim/penta_gazebo_sim/package.xml
@@ -4,7 +4,7 @@
   <name>penta_gazebo_sim</name>
   <version>0.0.0</version>
   <description>TODO: Package description</description>
-  <maintainer email="mohammad.safeea@hilti.com">modi</maintainer>
+  <maintainer email="mohammad.safeea@xx.com">modi</maintainer>
   <license>TODO: License declaration</license>
 
   <buildtool_depend>ament_cmake</buildtool_depend>
diff --git a/penta_gazebo_sim/penta_gazebo_world/package.xml b/penta_gazebo_sim/penta_gazebo_world/package.xml
index c650c99..e03fc24 100644
--- a/penta_gazebo_sim/penta_gazebo_world/package.xml
+++ b/penta_gazebo_sim/penta_gazebo_world/package.xml
@@ -4,7 +4,7 @@
   <name>penta_gazebo_world</name>
   <version>0.0.0</version>
   <description>TODO: Package description</description>
-  <maintainer email="mohammad.safeea@hilti.com">modi</maintainer>
+  <maintainer email="mohammad.safeea@xx.com">modi</maintainer>
   <license>TODO: License declaration</license>
 
   <buildtool_depend>ament_cmake</buildtool_depend>
diff --git a/ros_to_ros2_control_command_bridge/package.xml b/ros_to_ros2_control_command_bridge/package.xml
index 32017db..4f8f698 100644
--- a/ros_to_ros2_control_command_bridge/package.xml
+++ b/ros_to_ros2_control_command_bridge/package.xml
@@ -4,7 +4,7 @@
   <name>ros_to_ros2_control_command_bridge</name>
   <version>0.0.0</version>
   <description>TODO: Package description</description>
-  <maintainer email="mohammad.safeea@hilti.com">modi</maintainer>
+  <maintainer email="mohammad.safeea@xx.com">modi</maintainer>
   <license>TODO: License declaration</license>
 
   <depend>rclcpp</depend>

From de463ea127a6ede3cdea82ea70045f3f224e91e0 Mon Sep 17 00:00:00 2001
From: "Safeea, Mohammad" <mohammad.safeea@hilti.com>
Date: Sun, 25 May 2025 23:15:26 +0200
Subject: [PATCH 36/58] add base twerk on button press

---
 penta_teleop/CMakeLists.txt                   |  2 +
 penta_teleop/config/joy_extra_controls.yaml   |  6 ++
 .../penta_teleop/joystick_extra_controls.hpp  | 19 +++++
 penta_teleop/package.xml                      |  1 +
 .../penta_teleop/declare_load_parameters.cpp  | 40 ++++++++++
 .../penta_teleop/joystick_extra_controls.cpp  | 80 +++++++++++++++++++
 6 files changed, 148 insertions(+)

diff --git a/penta_teleop/CMakeLists.txt b/penta_teleop/CMakeLists.txt
index 5c06980..8a7befc 100644
--- a/penta_teleop/CMakeLists.txt
+++ b/penta_teleop/CMakeLists.txt
@@ -11,6 +11,7 @@ find_package(rclcpp REQUIRED)
 find_package(sensor_msgs REQUIRED)
 find_package(base_twerk_msgs REQUIRED)
 find_package(gait_generator_msgs REQUIRED)
+find_package(rclcpp_action REQUIRED)
 
 # Declare library
 add_library(${PROJECT_NAME}
@@ -28,6 +29,7 @@ ament_target_dependencies(${PROJECT_NAME}
         sensor_msgs
         base_twerk_msgs
         gait_generator_msgs
+        rclcpp_action
         )
 
 add_executable(joystick_extra_controls_node src/joystick_extra_controls_node.cpp)
diff --git a/penta_teleop/config/joy_extra_controls.yaml b/penta_teleop/config/joy_extra_controls.yaml
index 5862a81..38f2d60 100644
--- a/penta_teleop/config/joy_extra_controls.yaml
+++ b/penta_teleop/config/joy_extra_controls.yaml
@@ -6,3 +6,9 @@
       z_base_max_value: 0.15
     gait_patterns_ctl:
       button_index: 2
+    shake_it:
+      up_and_down:
+        trigger_button_index: 1
+        magnitude: 0.02
+        w: 2.0
+        dance_time_millis: 10000
diff --git a/penta_teleop/include/penta_teleop/joystick_extra_controls.hpp b/penta_teleop/include/penta_teleop/joystick_extra_controls.hpp
index 34eaec5..20a5b0d 100644
--- a/penta_teleop/include/penta_teleop/joystick_extra_controls.hpp
+++ b/penta_teleop/include/penta_teleop/joystick_extra_controls.hpp
@@ -3,6 +3,7 @@
 
 #include "rclcpp/rclcpp.hpp"
 #include <rclcpp/executors.hpp>
+#include <rclcpp_action/rclcpp_action.hpp>
 
 // include messages
 #include "base_twerk_msgs/srv/base_pose_setpoint.hpp"
@@ -10,6 +11,7 @@
 #include "gait_generator_msgs/srv/set_gait_pattern.hpp"
 #include "geometry_msgs/msg/pose_stamped.hpp"
 #include "sensor_msgs/msg/joy.hpp"
+#include "base_twerk_msgs/action/base_twerk_action.hpp"
 
 namespace penta_pod::teleop::joystick_extra_controls {
 
@@ -17,6 +19,8 @@ using PoseStamped = geometry_msgs::msg::PoseStamped;
 using BasePoseSetpoint = base_twerk_msgs::srv::BasePoseSetpoint;
 using GetCurrentBasePose = base_twerk_msgs::srv::GetCurrentBasePose;
 using SetGaitPattern = gait_generator_msgs::srv::SetGaitPattern;
+using BaseTwerkAction = base_twerk_msgs::action::BaseTwerkAction;
+using GoalHandleBaseTwerkAction = rclcpp_action::ClientGoalHandle<BaseTwerkAction>;
 
 class JoystickExtraControls {
 private:
@@ -27,6 +31,8 @@ class JoystickExtraControls {
   rclcpp::Client<BasePoseSetpoint>::SharedPtr set_base_pose_client_;
   rclcpp::Client<SetGaitPattern>::SharedPtr set_gait_pattern_client_;
 
+  rclcpp_action::Client<BaseTwerkAction>::SharedPtr base_twerk_action_client_;
+
   rclcpp::CallbackGroup::SharedPtr callback_group_;
 
   rclcpp::TimerBase::SharedPtr timer_;
@@ -41,6 +47,8 @@ class JoystickExtraControls {
   void handle_set_base_pose_response(
       rclcpp::Client<BasePoseSetpoint>::SharedFuture response);
 
+  void send_base_twerk_goal();
+
   void declare_parameters();
   bool get_parameters();
 
@@ -50,6 +58,17 @@ class JoystickExtraControls {
   double z_base_max_value_{0.01};
   double z_base_min_value_{0.15};
 
+  bool is_null_space_motion_possible_{true};
+
+  void up_and_down_dance(const sensor_msgs::msg::Joy::SharedPtr msg);
+
+  struct up_and_down_shake_params {
+    int trigger_button_index{0};
+    double magnitude{0.01}; // meters
+    double w{4.0}; // rad/s
+    int dance_time_millis{10000}; // milliseconds
+  } up_and_down_shake_params_;
+
 public:
   explicit JoystickExtraControls();
   auto get_node() { return node_; };
diff --git a/penta_teleop/package.xml b/penta_teleop/package.xml
index b4040a8..413ed40 100644
--- a/penta_teleop/package.xml
+++ b/penta_teleop/package.xml
@@ -14,6 +14,7 @@
   <depend>teleop_twist_joy</depend>
   <depend>base_twerk_msgs</depend>
   <depend>gait_generator_msgs</depend>
+  <depend>rclcpp_action</depend>
 
   <buildtool_depend>ament_cmake</buildtool_depend>
 
diff --git a/penta_teleop/src/penta_teleop/declare_load_parameters.cpp b/penta_teleop/src/penta_teleop/declare_load_parameters.cpp
index e83e78f..240f262 100644
--- a/penta_teleop/src/penta_teleop/declare_load_parameters.cpp
+++ b/penta_teleop/src/penta_teleop/declare_load_parameters.cpp
@@ -8,6 +8,10 @@ void JoystickExtraControls::declare_parameters() {
   node_->declare_parameter<int>("gait_parameters.gait_patterns.num");
   node_->declare_parameter<double>("base_height_ctl.z_base_min_value");
   node_->declare_parameter<double>("base_height_ctl.z_base_max_value");
+  node_->declare_parameter<int>("shake_it.up_and_down.trigger_button_index");
+  node_->declare_parameter<double>("shake_it.up_and_down.magnitude");
+  node_->declare_parameter<double>("shake_it.up_and_down.w");
+  node_->declare_parameter<int>("shake_it.up_and_down.dance_time_millis");
 }
 
 bool JoystickExtraControls::get_parameters() {
@@ -58,7 +62,43 @@ bool JoystickExtraControls::get_parameters() {
   }
   RCLCPP_INFO(node_->get_logger(), "Loaded parameter %s with value %f",
               param_name.c_str(), this->z_base_min_value_);
+  
+  param_name = "shake_it.up_and_down.trigger_button_index";
+  if (!node_->get_parameter(param_name, this->up_and_down_shake_params_.trigger_button_index)) {
+    RCLCPP_ERROR(node_->get_logger(), "Can not load parameters %s",
+                 param_name.c_str());
+    return false;
+  }
+  RCLCPP_INFO(node_->get_logger(), "Loaded parameter %s with value %d",
+              param_name.c_str(), this->up_and_down_shake_params_.trigger_button_index);
+  
+  param_name = "shake_it.up_and_down.magnitude";
+  if (!node_->get_parameter(param_name, this->up_and_down_shake_params_.magnitude)) {
+    RCLCPP_ERROR(node_->get_logger(), "Can not load parameters %s",
+                 param_name.c_str());
+    return false;
+  }
+  RCLCPP_INFO(node_->get_logger(), "Loaded parameter %s with value %f",
+              param_name.c_str(), this->up_and_down_shake_params_.magnitude);
+  
+  param_name = "shake_it.up_and_down.w";
+  if (!node_->get_parameter(param_name, this->up_and_down_shake_params_.w)) {
+    RCLCPP_ERROR(node_->get_logger(), "Can not load parameters %s",
+                 param_name.c_str());
+    return false;
+  }
+  RCLCPP_INFO(node_->get_logger(), "Loaded parameter %s with value %f",
+              param_name.c_str(), this->up_and_down_shake_params_.w);
 
+  param_name = "shake_it.up_and_down.dance_time_millis";
+  if (!node_->get_parameter(param_name, this->up_and_down_shake_params_.dance_time_millis)) {
+    RCLCPP_ERROR(node_->get_logger(), "Can not load parameters %s",
+                 param_name.c_str());
+    return false;
+  }
+  RCLCPP_INFO(node_->get_logger(), "Loaded parameter %s with value %d",
+              param_name.c_str(), this->up_and_down_shake_params_.dance_time_millis);
+              
   return true;
 }
 
diff --git a/penta_teleop/src/penta_teleop/joystick_extra_controls.cpp b/penta_teleop/src/penta_teleop/joystick_extra_controls.cpp
index f06a385..961b3b6 100644
--- a/penta_teleop/src/penta_teleop/joystick_extra_controls.cpp
+++ b/penta_teleop/src/penta_teleop/joystick_extra_controls.cpp
@@ -30,6 +30,11 @@ JoystickExtraControls::JoystickExtraControls()
   set_gait_pattern_client_ = node_->create_client<SetGaitPattern>(
       "gait_generator/set_gait_pattern", rmw_qos_profile_services_default,
       callback_group_);
+  
+  // Action client to call base twerk action
+  base_twerk_action_client_ =
+      rclcpp_action::create_client<BaseTwerkAction>(node_, "base_twerk_action",
+                                                    callback_group_);
 }
 
 void JoystickExtraControls::joy_sub_callback(
@@ -39,6 +44,28 @@ void JoystickExtraControls::joy_sub_callback(
   dpad_up_down(msg);
   // change walking pattern
   set_gait_pattern(msg);
+  // check up and down dance button
+  up_and_down_dance(msg);
+}
+
+void JoystickExtraControls::up_and_down_dance(
+  const sensor_msgs::msg::Joy::SharedPtr msg) {
+
+  static int last_button_state = 0;
+  auto index = up_and_down_shake_params_.trigger_button_index;
+  
+  if (msg->buttons[index] - last_button_state  == 1) {
+
+    if (!is_null_space_motion_possible_) {
+      RCLCPP_WARN(node_->get_logger(),
+                  "Base motion is not available, skipping base pose change.");
+      return;
+    }
+    this->send_base_twerk_goal();
+    return;
+  }
+
+  last_button_state = msg->buttons[index];
 }
 
 void JoystickExtraControls::set_gait_pattern(
@@ -92,6 +119,13 @@ void JoystickExtraControls::set_gait_pattern(
 void JoystickExtraControls::dpad_up_down(
     const sensor_msgs::msg::Joy::SharedPtr msg) {
   if (msg->axes[this->d_pad_up_down_axis_index_] != 0) {
+    
+    if (!is_null_space_motion_possible_) {
+      RCLCPP_WARN(node_->get_logger(),
+                  "Base motion is not available, skipping base pose change.");
+      return;
+    }
+
     double delta_z = 0.001;
     double z_disp_base_command = msg->axes[7] * delta_z;
 
@@ -174,4 +208,50 @@ void JoystickExtraControls::handle_set_base_pose_response(
   }
 }
 
+void JoystickExtraControls::send_base_twerk_goal()
+{
+  
+  if (!this->base_twerk_action_client_->wait_for_action_server(std::chrono::seconds(5))) {
+    RCLCPP_ERROR(node_->get_logger(), "Action server not available after waiting");
+    return;
+  }
+
+  auto goal_msg = BaseTwerkAction::Goal();
+
+  goal_msg.r[2] = up_and_down_shake_params_.magnitude; // magnitude in meters
+  goal_msg.w = up_and_down_shake_params_.w; // rad/s
+  goal_msg.dance_time_millis = 10000; // milliseconds
+
+  RCLCPP_INFO(node_->get_logger(), "Sending goal");
+
+  auto send_goal_options = rclcpp_action::Client<BaseTwerkAction>::SendGoalOptions();
+  send_goal_options.goal_response_callback =
+    [this](const rclcpp_action::ClientGoalHandle<BaseTwerkAction>::SharedPtr goal_handle) {
+      if (!goal_handle) {
+        RCLCPP_ERROR(node_->get_logger(), "Goal was rejected by server");
+      } else {
+        RCLCPP_INFO(node_->get_logger(), "Goal accepted by server, waiting for result");
+        is_null_space_motion_possible_ = false;
+      }
+    };
+
+  send_goal_options.feedback_callback =
+    [this](const rclcpp_action::ClientGoalHandle<BaseTwerkAction>::SharedPtr,
+            const std::shared_ptr<const BaseTwerkAction::Feedback> /*feedback*/) {
+      RCLCPP_INFO(node_->get_logger(), "Received feedback");
+    };
+    
+  send_goal_options.result_callback =
+    [this](const rclcpp_action::ClientGoalHandle<BaseTwerkAction>::WrappedResult & result) {
+      is_null_space_motion_possible_ = true;
+      if (result.code == rclcpp_action::ResultCode::SUCCEEDED) {
+        RCLCPP_INFO(node_->get_logger(), "Goal succeeded");
+      } else {
+        RCLCPP_ERROR(node_->get_logger(), "Goal failed");
+      }
+    };
+
+  this->base_twerk_action_client_->async_send_goal(goal_msg, send_goal_options);
+}
+
 } // namespace penta_pod::teleop::joystick_extra_controls

From b76ef0bf2c24b021f5ff27f7b029609ca9588da9 Mon Sep 17 00:00:00 2001
From: "Safeea, Mohammad" <mohammad.safeea@hilti.com>
Date: Wed, 28 May 2025 23:41:15 +0200
Subject: [PATCH 37/58] add more twerk modes

---
 penta_teleop/README.md                        |   5 +
 penta_teleop/config/joy_extra_controls.yaml   |  23 ++-
 .../penta_teleop/joystick_extra_controls.hpp  | 109 +++++++++--
 .../penta_teleop/declare_load_parameters.cpp  | 169 +++++++++++++-----
 .../penta_teleop/joystick_extra_controls.cpp  |  53 ++++--
 5 files changed, 276 insertions(+), 83 deletions(-)

diff --git a/penta_teleop/README.md b/penta_teleop/README.md
index e5fc8f3..d4097a6 100644
--- a/penta_teleop/README.md
+++ b/penta_teleop/README.md
@@ -16,6 +16,11 @@ Connect the dongle to Raspberry PI, to control the robot as follows:
 
 4- `X button` to change walking pattern
 
+5- `A button` to change twerk mode
+
+6- `B button` to start executing the twerk motion
+
+
 Note, make sure to enable the motion using:
 
 1- `Right Trigger button (RT)` to enable the turbo mode
diff --git a/penta_teleop/config/joy_extra_controls.yaml b/penta_teleop/config/joy_extra_controls.yaml
index 38f2d60..2fbdc00 100644
--- a/penta_teleop/config/joy_extra_controls.yaml
+++ b/penta_teleop/config/joy_extra_controls.yaml
@@ -6,9 +6,20 @@
       z_base_max_value: 0.15
     gait_patterns_ctl:
       button_index: 2
-    shake_it:
-      up_and_down:
-        trigger_button_index: 1
-        magnitude: 0.02
-        w: 2.0
-        dance_time_millis: 10000
+    twerk_it: # twerk action client goal parameters
+      switch_mode_button_index: 0
+      trigger_button_index: 1
+      w: 2.0
+      dance_time_millis: 10000
+      twerk_mode_names:
+        - "linear_up_and_down"
+        - "angular_roll"
+        - "linear_left_and_right"
+      twerk_mode_axes:
+        - 2 # for z
+        - 3 # for roll
+        - 1 # for y
+      twerk_mode_magnitudes:
+        - 0.02 # meter z
+        - 0.1 # rad roll
+        - 0.02 # meter y
diff --git a/penta_teleop/include/penta_teleop/joystick_extra_controls.hpp b/penta_teleop/include/penta_teleop/joystick_extra_controls.hpp
index 20a5b0d..199d7f5 100644
--- a/penta_teleop/include/penta_teleop/joystick_extra_controls.hpp
+++ b/penta_teleop/include/penta_teleop/joystick_extra_controls.hpp
@@ -37,37 +37,114 @@ class JoystickExtraControls {
 
   rclcpp::TimerBase::SharedPtr timer_;
 
+  /* up down motion, funs/vars */
+  int d_pad_up_down_axis_index_{7};
+  int gait_patterns_ctl_button_index_{2};
+  int num_of_gait_patterns_{3};
+  double z_base_max_value_{0.01};
+  double z_base_min_value_{0.15};
+
   void joy_sub_callback(const sensor_msgs::msg::Joy::SharedPtr msg);
   void dpad_up_down(const sensor_msgs::msg::Joy::SharedPtr msg);
   void set_gait_pattern(const sensor_msgs::msg::Joy::SharedPtr msg);
 
+  /* get/set base pose */
   void handle_get_base_pose_response(
       rclcpp::Client<GetCurrentBasePose>::SharedFuture response,
       double z_disp_base_command);
   void handle_set_base_pose_response(
       rclcpp::Client<BasePoseSetpoint>::SharedFuture response);
 
-  void send_base_twerk_goal();
-
-  void declare_parameters();
-  bool get_parameters();
-
-  int d_pad_up_down_axis_index_{7};
-  int gait_patterns_ctl_button_index_{2};
-  int num_of_gait_patterns_{3};
-  double z_base_max_value_{0.01};
-  double z_base_min_value_{0.15};
-
+  /* twerk funs */
+  void send_base_twerk_goal(int twerk_axis_index, double twerk_magnitude, int twerk_time_millis);
+  
   bool is_null_space_motion_possible_{true};
+  void check_twerk_it_mode_switch(const sensor_msgs::msg::Joy::SharedPtr msg);
+  void check_twerk_pressed(const sensor_msgs::msg::Joy::SharedPtr msg);
 
-  void up_and_down_dance(const sensor_msgs::msg::Joy::SharedPtr msg);
 
-  struct up_and_down_shake_params {
-    int trigger_button_index{0};
-    double magnitude{0.01}; // meters
+  /* parameters funs */
+  void declare_parameters();
+  bool get_parameters();
+  void declare_base_height_parameters();
+  bool get_base_height_parameters();
+  void declare_gait_patterns_parameters();
+  bool get_gait_patterns_parameters();
+  void declare_twerk_it_parameters();
+  bool get_twerk_it_parameters();
+
+  /* twerk it params struct */
+  struct TwerkItParams {      
+    int trigger_button_index{0}; // button to trigger twerk
+    int switch_mode_button_index{1}; // button to switch twerk modes
     double w{4.0}; // rad/s
     int dance_time_millis{10000}; // milliseconds
-  } up_and_down_shake_params_;
+    int current_twerk_mode_index{0};
+
+    std::vector<double> magnitudes;
+    std::vector<std::string> twerk_mode_names;
+    std::vector<long int> twerk_mode_axes;
+
+    /* get joystick buttons indicies*/
+    int get_twerk_it_trigger_button_index() {
+      return trigger_button_index;
+    }
+
+    int get_twerk_it_switch_mode_button_index() {
+      return switch_mode_button_index;
+    }
+    
+    /* get parameters */
+    auto check_current_twerk_it_mode_index() -> bool {
+      if (current_twerk_mode_index < 0 ||
+          static_cast<size_t>(current_twerk_mode_index) >= twerk_mode_names.size()) {
+        RCLCPP_ERROR(rclcpp::get_logger("JoystickExtraControls"),
+                     "Current twerk mode index is out of bounds : %d resetting it to zero!", 
+                     current_twerk_mode_index);
+        current_twerk_mode_index = 0;
+        return false;
+      }
+      return true;
+    }
+
+    auto get_current_twerk_it_mode_name() -> std::string {
+      if(!check_current_twerk_it_mode_index()) {
+        RCLCPP_ERROR(rclcpp::get_logger("fun get_current_twerk_it_mode_name"),
+                     "Failed to assert current twerk mode index. Out of bounds");
+      }
+      return twerk_mode_names[current_twerk_mode_index];
+    }
+
+    auto get_current_twerk_it_axis() -> int {
+      if(!check_current_twerk_it_mode_index()) {
+        RCLCPP_ERROR(rclcpp::get_logger("fun get_current_twerk_it_axis"),
+                     "Failed to assert current twerk mode index. Out of bounds");
+      }
+      return twerk_mode_axes[current_twerk_mode_index];
+    }
+
+    auto get_current_twerk_it_magnitude() -> double {
+      if(!check_current_twerk_it_mode_index()) {
+        RCLCPP_ERROR(rclcpp::get_logger("fun get_current_twerk_it_magnitude"),
+                     "Failed to assert current twerk mode index. Out of bounds");
+      }
+      return magnitudes[current_twerk_mode_index];
+    }
+
+    int get_current_twerk_it_dance_time_millis() {
+      return dance_time_millis;
+    }
+
+    /* set some stuff */
+    int switch_twerk_it_mode() {
+      current_twerk_mode_index++;
+      if (static_cast<size_t>(current_twerk_mode_index) >= twerk_mode_names.size()) {
+        current_twerk_mode_index = 0;
+      }
+      return current_twerk_mode_index;
+    }
+
+  } twerk_it_params_;
 
 public:
   explicit JoystickExtraControls();
diff --git a/penta_teleop/src/penta_teleop/declare_load_parameters.cpp b/penta_teleop/src/penta_teleop/declare_load_parameters.cpp
index 240f262..48efc27 100644
--- a/penta_teleop/src/penta_teleop/declare_load_parameters.cpp
+++ b/penta_teleop/src/penta_teleop/declare_load_parameters.cpp
@@ -3,102 +3,173 @@
 namespace penta_pod::teleop::joystick_extra_controls {
 
 void JoystickExtraControls::declare_parameters() {
+  this->declare_base_height_parameters();
+  this->declare_gait_patterns_parameters();
+  this->declare_twerk_it_parameters();
+}
+
+bool JoystickExtraControls::get_parameters() {
+  bool height_params_load_success = this->get_base_height_parameters();
+
+  return height_params_load_success &&
+         this->get_gait_patterns_parameters() &&
+         this->get_twerk_it_parameters();
+}
+
+void JoystickExtraControls::declare_base_height_parameters() {
   node_->declare_parameter<int>("base_height_ctl.d_pad_up_down_axis_index");
-  node_->declare_parameter<int>("gait_patterns_ctl.button_index");
-  node_->declare_parameter<int>("gait_parameters.gait_patterns.num");
-  node_->declare_parameter<double>("base_height_ctl.z_base_min_value");
   node_->declare_parameter<double>("base_height_ctl.z_base_max_value");
-  node_->declare_parameter<int>("shake_it.up_and_down.trigger_button_index");
-  node_->declare_parameter<double>("shake_it.up_and_down.magnitude");
-  node_->declare_parameter<double>("shake_it.up_and_down.w");
-  node_->declare_parameter<int>("shake_it.up_and_down.dance_time_millis");
+  node_->declare_parameter<double>("base_height_ctl.z_base_min_value");
+  
 }
 
-bool JoystickExtraControls::get_parameters() {
+bool JoystickExtraControls::get_base_height_parameters() {
   std::string param_name;
 
   param_name = "base_height_ctl.d_pad_up_down_axis_index";
   if (!node_->get_parameter(param_name, this->d_pad_up_down_axis_index_)) {
-    RCLCPP_ERROR(node_->get_logger(), "Can not load parameters %s",
+    RCLCPP_ERROR(node_->get_logger(), "Cannot load parameter %s",
                  param_name.c_str());
     return false;
   }
   RCLCPP_INFO(node_->get_logger(), "Loaded parameter %s with value %d",
               param_name.c_str(), this->d_pad_up_down_axis_index_);
 
+  param_name = "base_height_ctl.z_base_max_value";
+  if (!node_->get_parameter(param_name, this->z_base_max_value_)) {
+    RCLCPP_ERROR(node_->get_logger(), "Cannot load parameter %s",
+                 param_name.c_str());
+    return false;
+  }
+  RCLCPP_INFO(node_->get_logger(), "Loaded parameter %s with value %f",
+              param_name.c_str(), this->z_base_max_value_);
+  
+   param_name = "base_height_ctl.z_base_min_value";
+  if (!node_->get_parameter(param_name, this->z_base_min_value_)) {
+    RCLCPP_ERROR(node_->get_logger(), "Cannot load parameter %s",
+                 param_name.c_str());
+    return false;
+  }
+  RCLCPP_INFO(node_->get_logger(), "Loaded parameter %s with value %f",
+              param_name.c_str(), this->z_base_min_value_);
+
+  return true; // Ensure the function always returns a value
+}
+
+void JoystickExtraControls::declare_gait_patterns_parameters() {
+  node_->declare_parameter<int>("gait_patterns_ctl.button_index");
+}
+
+bool JoystickExtraControls::get_gait_patterns_parameters() {
+  std::string param_name;
+
   param_name = "gait_patterns_ctl.button_index";
-  if (!node_->get_parameter(param_name,
-                            this->gait_patterns_ctl_button_index_)) {
-    RCLCPP_ERROR(node_->get_logger(), "Can not load parameters %s",
+  if (!node_->get_parameter(param_name, this->gait_patterns_ctl_button_index_)) {
+    RCLCPP_ERROR(node_->get_logger(), "Cannot load parameter %s",
                  param_name.c_str());
     return false;
   }
   RCLCPP_INFO(node_->get_logger(), "Loaded parameter %s with value %d",
               param_name.c_str(), this->gait_patterns_ctl_button_index_);
 
-  param_name = "gait_parameters.gait_patterns.num";
-  if (!node_->get_parameter(param_name, this->num_of_gait_patterns_)) {
-    RCLCPP_ERROR(node_->get_logger(), "Can not load parameters %s",
+  return true;
+}
+
+void JoystickExtraControls::declare_twerk_it_parameters() {
+  node_->declare_parameter<int>("twerk_it.switch_mode_button_index");
+  node_->declare_parameter<int>("twerk_it.trigger_button_index");
+  node_->declare_parameter<double>("twerk_it.w");
+  node_->declare_parameter<int>("twerk_it.dance_time_millis");
+
+  node_->declare_parameter<std::vector<std::string>>("twerk_it.twerk_mode_names",
+                                                      std::vector<std::string>{});
+  node_->declare_parameter<std::vector<long int>>("twerk_it.twerk_mode_axes",
+                                                      std::vector<long int>{});
+  node_->declare_parameter<std::vector<double>>("twerk_it.twerk_mode_magnitudes",
+                                                      std::vector<double>{});
+}
+
+bool JoystickExtraControls::get_twerk_it_parameters() {
+  std::string param_name;
+
+  param_name = "twerk_it.switch_mode_button_index";
+  if (!node_->get_parameter(param_name, twerk_it_params_.switch_mode_button_index)) {
+    RCLCPP_ERROR(node_->get_logger(), "Cannot load parameter %s",
                  param_name.c_str());
     return false;
   }
   RCLCPP_INFO(node_->get_logger(), "Loaded parameter %s with value %d",
-              param_name.c_str(), this->num_of_gait_patterns_);
-
-  param_name = "base_height_ctl.z_base_max_value";
-  if (!node_->get_parameter(param_name, this->z_base_max_value_)) {
-    RCLCPP_ERROR(node_->get_logger(), "Can not load parameters %s",
+              param_name.c_str(), twerk_it_params_.switch_mode_button_index);
+  
+  param_name = "twerk_it.trigger_button_index";
+  if (!node_->get_parameter(param_name, twerk_it_params_.trigger_button_index)) {
+    RCLCPP_ERROR(node_->get_logger(), "Cannot load parameter %s",
                  param_name.c_str());
     return false;
   }
-  RCLCPP_INFO(node_->get_logger(), "Loaded parameter %s with value %f",
-              param_name.c_str(), this->z_base_max_value_);
+  RCLCPP_INFO(node_->get_logger(), "Loaded parameter %s with value %d",
+              param_name.c_str(), twerk_it_params_.trigger_button_index);
 
-  param_name = "base_height_ctl.z_base_min_value";
-  if (!node_->get_parameter(param_name, this->z_base_min_value_)) {
-    RCLCPP_ERROR(node_->get_logger(), "Can not load parameters %s",
+  param_name = "twerk_it.w";
+  if (!node_->get_parameter(param_name, twerk_it_params_.w)) {
+    RCLCPP_ERROR(node_->get_logger(), "Cannot load parameter %s",
                  param_name.c_str());
     return false;
   }
   RCLCPP_INFO(node_->get_logger(), "Loaded parameter %s with value %f",
-              param_name.c_str(), this->z_base_min_value_);
-  
-  param_name = "shake_it.up_and_down.trigger_button_index";
-  if (!node_->get_parameter(param_name, this->up_and_down_shake_params_.trigger_button_index)) {
-    RCLCPP_ERROR(node_->get_logger(), "Can not load parameters %s",
+              param_name.c_str(), twerk_it_params_.w);
+
+  param_name = "twerk_it.dance_time_millis";
+  if (!node_->get_parameter(param_name, twerk_it_params_.dance_time_millis)) {
+    RCLCPP_ERROR(node_->get_logger(), "Cannot load parameter %s",
                  param_name.c_str());
     return false;
   }
   RCLCPP_INFO(node_->get_logger(), "Loaded parameter %s with value %d",
-              param_name.c_str(), this->up_and_down_shake_params_.trigger_button_index);
-  
-  param_name = "shake_it.up_and_down.magnitude";
-  if (!node_->get_parameter(param_name, this->up_and_down_shake_params_.magnitude)) {
-    RCLCPP_ERROR(node_->get_logger(), "Can not load parameters %s",
+              param_name.c_str(), twerk_it_params_.dance_time_millis);
+
+  param_name = "twerk_it.twerk_mode_names";
+  if (!node_->get_parameter(param_name, twerk_it_params_.twerk_mode_names)) {
+    RCLCPP_ERROR(node_->get_logger(), "Cannot load parameter %s",
                  param_name.c_str());
     return false;
   }
-  RCLCPP_INFO(node_->get_logger(), "Loaded parameter %s with value %f",
-              param_name.c_str(), this->up_and_down_shake_params_.magnitude);
-  
-  param_name = "shake_it.up_and_down.w";
-  if (!node_->get_parameter(param_name, this->up_and_down_shake_params_.w)) {
-    RCLCPP_ERROR(node_->get_logger(), "Can not load parameters %s",
+  RCLCPP_INFO(node_->get_logger(), "Loaded parameter %s with %lu values",
+              param_name.c_str(), twerk_it_params_.twerk_mode_names.size());
+
+  param_name = "twerk_it.twerk_mode_axes";
+  if (!node_->get_parameter(param_name, twerk_it_params_.twerk_mode_axes)) {
+    RCLCPP_ERROR(node_->get_logger(), "Cannot load parameter %s",
                  param_name.c_str());
     return false;
   }
-  RCLCPP_INFO(node_->get_logger(), "Loaded parameter %s with value %f",
-              param_name.c_str(), this->up_and_down_shake_params_.w);
+  RCLCPP_INFO(node_->get_logger(), "Loaded parameter %s with %lu values",
+              param_name.c_str(), twerk_it_params_.twerk_mode_axes.size());
 
-  param_name = "shake_it.up_and_down.dance_time_millis";
-  if (!node_->get_parameter(param_name, this->up_and_down_shake_params_.dance_time_millis)) {
-    RCLCPP_ERROR(node_->get_logger(), "Can not load parameters %s",
+  param_name = "twerk_it.twerk_mode_magnitudes";
+  if (!node_->get_parameter(param_name, twerk_it_params_.magnitudes)) {
+    RCLCPP_ERROR(node_->get_logger(), "Cannot load parameter %s",
                  param_name.c_str());
     return false;
   }
-  RCLCPP_INFO(node_->get_logger(), "Loaded parameter %s with value %d",
-              param_name.c_str(), this->up_and_down_shake_params_.dance_time_millis);
-              
+  RCLCPP_INFO(node_->get_logger(), "Loaded parameter %s with %lu values",
+              param_name.c_str(), twerk_it_params_.magnitudes.size());
+
+  if (twerk_it_params_.twerk_mode_names.size() !=
+      twerk_it_params_.twerk_mode_axes.size() ||
+      twerk_it_params_.twerk_mode_names.size() !=
+      twerk_it_params_.magnitudes.size()) {
+    RCLCPP_ERROR(node_->get_logger(),
+                 "twerk it parameters sizes do not match. "
+                 "twerk_mode_names: %lu, "
+                 "twerk_mode_axes: %lu, "
+                 "magnitudes: %lu",
+                 twerk_it_params_.twerk_mode_names.size(),
+                 twerk_it_params_.twerk_mode_axes.size(),
+                 twerk_it_params_.magnitudes.size());
+    return false;
+  }
+
   return true;
 }
 
diff --git a/penta_teleop/src/penta_teleop/joystick_extra_controls.cpp b/penta_teleop/src/penta_teleop/joystick_extra_controls.cpp
index 961b3b6..96f2b9c 100644
--- a/penta_teleop/src/penta_teleop/joystick_extra_controls.cpp
+++ b/penta_teleop/src/penta_teleop/joystick_extra_controls.cpp
@@ -44,28 +44,58 @@ void JoystickExtraControls::joy_sub_callback(
   dpad_up_down(msg);
   // change walking pattern
   set_gait_pattern(msg);
-  // check up and down dance button
-  up_and_down_dance(msg);
+  // change "twerk it!" mode
+  check_twerk_it_mode_switch(msg);
+  // check "twerk it!" button
+  check_twerk_pressed(msg);
 }
 
-void JoystickExtraControls::up_and_down_dance(
+void JoystickExtraControls::check_twerk_it_mode_switch(
+  const sensor_msgs::msg::Joy::SharedPtr msg) {
+  static int last_button_state = 0;
+  auto index = twerk_it_params_.get_twerk_it_switch_mode_button_index();
+  auto received_button_value = msg->buttons[index];
+
+  if (received_button_value - last_button_state == 1) {
+    // Button was pressed
+    RCLCPP_INFO(node_->get_logger(),
+                "Button to switch shaking mode pressed, changing mode");
+    twerk_it_params_.switch_twerk_it_mode();
+
+    RCLCPP_INFO(node_->get_logger(),
+                "Applied twerk mode: %s, magnitude: %f",
+                twerk_it_params_.get_current_twerk_it_mode_name().c_str(),
+                twerk_it_params_.get_current_twerk_it_magnitude());
+  }
+  last_button_state = received_button_value;
+}
+
+void JoystickExtraControls::check_twerk_pressed(
   const sensor_msgs::msg::Joy::SharedPtr msg) {
 
   static int last_button_state = 0;
-  auto index = up_and_down_shake_params_.trigger_button_index;
+  auto index = twerk_it_params_.get_twerk_it_trigger_button_index();
+  auto received_button_value = msg->buttons[index];
   
-  if (msg->buttons[index] - last_button_state  == 1) {
+  if (received_button_value - last_button_state  == 1) {
 
     if (!is_null_space_motion_possible_) {
       RCLCPP_WARN(node_->get_logger(),
                   "Base motion is not available, skipping base pose change.");
       return;
     }
-    this->send_base_twerk_goal();
+
+    auto twerk_axis_index = twerk_it_params_.get_current_twerk_it_axis();
+    auto magnitude = twerk_it_params_.get_current_twerk_it_magnitude();
+    auto twerk_time_millis =
+        twerk_it_params_.get_current_twerk_it_dance_time_millis();
+    
+    this->send_base_twerk_goal(twerk_axis_index, magnitude, twerk_time_millis);
+    
     return;
   }
 
-  last_button_state = msg->buttons[index];
+  last_button_state = received_button_value;
 }
 
 void JoystickExtraControls::set_gait_pattern(
@@ -208,8 +238,7 @@ void JoystickExtraControls::handle_set_base_pose_response(
   }
 }
 
-void JoystickExtraControls::send_base_twerk_goal()
-{
+void JoystickExtraControls::send_base_twerk_goal(int twerk_axis_index, double twerk_magnitude, int twerk_time_millis) {
   
   if (!this->base_twerk_action_client_->wait_for_action_server(std::chrono::seconds(5))) {
     RCLCPP_ERROR(node_->get_logger(), "Action server not available after waiting");
@@ -218,9 +247,9 @@ void JoystickExtraControls::send_base_twerk_goal()
 
   auto goal_msg = BaseTwerkAction::Goal();
 
-  goal_msg.r[2] = up_and_down_shake_params_.magnitude; // magnitude in meters
-  goal_msg.w = up_and_down_shake_params_.w; // rad/s
-  goal_msg.dance_time_millis = 10000; // milliseconds
+  goal_msg.r[twerk_axis_index] = twerk_magnitude; // in meters or rads, depending on axis
+  goal_msg.w = twerk_it_params_.w; // rad/s
+  goal_msg.dance_time_millis = twerk_time_millis; // milliseconds
 
   RCLCPP_INFO(node_->get_logger(), "Sending goal");
 

From adfb584108b586cb0b93eec297e366737da55074 Mon Sep 17 00:00:00 2001
From: "Safeea, Mohammad" <mohammad.safeea@hilti.com>
Date: Thu, 29 May 2025 12:02:08 +0200
Subject: [PATCH 38/58] improve parameters handling and target goal value
 checks

---
 .../base_twerk/base_twerk_action_server.hpp   |  13 +-
 .../base_twerk/base_twerk_action_server.cpp   | 129 +++++++++++++++---
 penta_description/config/general_config.yaml  |   5 +-
 3 files changed, 122 insertions(+), 25 deletions(-)

diff --git a/base_twerk/include/base_twerk/base_twerk_action_server.hpp b/base_twerk/include/base_twerk/base_twerk_action_server.hpp
index 98c486c..a19d68b 100644
--- a/base_twerk/include/base_twerk/base_twerk_action_server.hpp
+++ b/base_twerk/include/base_twerk/base_twerk_action_server.hpp
@@ -44,6 +44,8 @@ class BaseTwerkActionServer {
 
   auto execute(const std::shared_ptr<GoalHandle> goal_handle) -> void;
 
+  auto is_target_valid(const std::shared_ptr<GoalHandle> goal_handle) -> bool;
+
   auto declare_parameters() -> void;
   auto get_parameters() -> void;
 
@@ -52,11 +54,16 @@ class BaseTwerkActionServer {
   auto calculate_twerk_pose_from_goal(
       rclcpp::Time start_time, PoseStamped start_pose,
       const std::shared_ptr<GoalHandle> goal_handle) -> PoseStamped;
-      
+
   auto quiry_current_base_pose() -> std::optional<GetCurrentBasePose::Response>;
 
-  double update_interval_millis_double_;
-  double max_permissible_displacement_meter_;
+  struct TwerkYamlConfigs {
+    double update_interval_millis_double_;
+    double max_permissible_displacement_meter_;
+    double min_permissible_displacement_meter_;
+    double max_permissible_rotation_rad_;
+    double min_permissible_rotation_rad_;
+  } twerk_yaml_configs_;
 
   struct ReceviedPoseStamped {
     rclcpp::Time timestamp;
diff --git a/base_twerk/src/base_twerk/base_twerk_action_server.cpp b/base_twerk/src/base_twerk/base_twerk_action_server.cpp
index 49a958d..75580a6 100644
--- a/base_twerk/src/base_twerk/base_twerk_action_server.cpp
+++ b/base_twerk/src/base_twerk/base_twerk_action_server.cpp
@@ -1,4 +1,5 @@
 #include "base_twerk/base_twerk_action_server.hpp"
+#include "base_twerk/base_twerk_helper_funs.hpp"
 #include "commons/quaternion_utils.hpp"
 
 namespace penta_pod::kin::base_twerk {
@@ -61,23 +62,15 @@ auto BaseTwerkActionServer::execute(
   const auto goal = goal_handle->get_goal();
   auto result = std::make_shared<BaseTwerkAction::Result>();
 
-  double mag_displacement =
-      std::sqrt(goal->r[0] * goal->r[0] + goal->r[1] * goal->r[1] +
-                goal->r[2] * goal->r[2]);
-  if (mag_displacement > max_permissible_displacement_meter_) {
-    auto message = "Action aborted for the specified displacement is: " +
-                   std::to_string(mag_displacement) +
-                   " [meter], which is bigger than the permissible value "
-                   "specified in yaml as " +
-                   std::to_string(max_permissible_displacement_meter_);
-    result->result_message = message;
-    goal_handle->abort(result);
-    RCLCPP_ERROR(node_->get_logger(), message.c_str());
+  // check if target is valid
+  if (!is_target_valid(goal_handle)) {
+    RCLCPP_ERROR(node_->get_logger(), "Invalid target, action aborted");
     return;
   }
 
   const auto millis_in_a_second = 1000.0;
-  rclcpp::Rate rate(millis_in_a_second / update_interval_millis_double_);
+  rclcpp::Rate rate(millis_in_a_second /
+                    twerk_yaml_configs_.update_interval_millis_double_);
 
   auto is_timed_out =
       [this](rclcpp::Time start_time,
@@ -113,7 +106,7 @@ auto BaseTwerkActionServer::execute(
   }
 
   auto dance_time_millis =
-      std::chrono::milliseconds(static_cast<int>(goal->dance_time_millis));
+      get_rounded_dance_time_from_goal_millis(goal->w, goal->dance_time_millis);
 
   // start control loop for base pose motion
   auto start_time = node_->now();
@@ -246,10 +239,83 @@ auto BaseTwerkActionServer::call_setpoint_client(
   return true;
 }
 
+auto BaseTwerkActionServer::is_target_valid(
+    const std::shared_ptr<GoalHandle> goal_handle) -> bool {
+  // Check goal handle validity
+  if (!goal_handle) {
+    RCLCPP_ERROR(node_->get_logger(), "Goal handle is null");
+    return false;
+  }
+
+  auto result = std::make_shared<BaseTwerkAction::Result>();
+
+  const auto goal = goal_handle->get_goal();
+
+  // Check input fields
+  if (goal->w == 0.0) {
+    auto message = "Action target goal for the specified frequency is: " +
+                   std::to_string(goal->w) +
+                   " [Hz], which is not valid. It should not be 0.";
+    result->result_message = message;
+    goal_handle->abort(result);
+    RCLCPP_ERROR(node_->get_logger(), message.c_str());
+    return false;
+  }
+
+  if (goal->dance_time_millis <= 0) {
+    auto message =
+        "Action target goal for the specified dance time is: " +
+        std::to_string(goal->dance_time_millis) +
+        " [milliseconds], which is not valid. It should be positive.";
+    result->result_message = message;
+    goal_handle->abort(result);
+    RCLCPP_ERROR(node_->get_logger(), message.c_str());
+    return false;
+  }
+
+  double mag_displacement =
+      std::sqrt(goal->r[0] * goal->r[0] + goal->r[1] * goal->r[1] +
+                goal->r[2] * goal->r[2]);
+  double comparision_value =
+      twerk_yaml_configs_.max_permissible_displacement_meter_;
+  if (mag_displacement > comparision_value) {
+    auto message = "The specified displacement magnitude is: " +
+                   std::to_string(mag_displacement) +
+                   " [meter], which is bigger than the permissible value "
+                   "specified in yaml as " +
+                   std::to_string(comparision_value);
+    result->result_message = message;
+    goal_handle->abort(result);
+    RCLCPP_ERROR(node_->get_logger(), message.c_str());
+    return false;
+  }
+
+  double mag_rotation =
+      std::sqrt(goal->r[3] * goal->r[3] + goal->r[4] * goal->r[4] +
+                goal->r[5] * goal->r[5]);
+  comparision_value = twerk_yaml_configs_.max_permissible_rotation_rad_;
+  if (mag_rotation > comparision_value) {
+    auto message =
+        "The specified rotation magnitude is: " + std::to_string(mag_rotation) +
+        " [rad], which is bigger than the permissible value "
+        "specified in yaml as " +
+        std::to_string(comparision_value);
+    result->result_message = message;
+    goal_handle->abort(result);
+    RCLCPP_ERROR(node_->get_logger(), message.c_str());
+    return false;
+  }
+
+  return true;
+}
+
 auto BaseTwerkActionServer::declare_parameters() -> void {
   node_->declare_parameter<int>(
       "base_twerk.action_server_service_call_interval_millis");
   node_->declare_parameter<double>("base_twerk.max_permissible_displacement");
+  node_->declare_parameter<double>("base_twerk.max_permissible_rotation");
+  node_->declare_parameter<double>("base_twerk.min_permissible_displacement");
+  node_->declare_parameter<double>("base_twerk.min_permissible_rotation");
 }
 
 auto BaseTwerkActionServer::get_parameters() -> void {
@@ -260,24 +326,45 @@ auto BaseTwerkActionServer::get_parameters() -> void {
       throw std::runtime_error(error_message);
     }
   };
-  int update_interval_millis_int_;
+  int update_interval_millis_int;
   load_param("base_twerk.action_server_service_call_interval_millis",
-             update_interval_millis_int_,
+             update_interval_millis_int,
              "No parameter "
              "base_twerk.action_server_service_call_interval_millis is found.");
   RCLCPP_INFO(node_->get_logger(),
               " base_twerk.action_server_service_call_interval_millis is %d "
               "[milliseconds]",
-              update_interval_millis_int_);
-  update_interval_millis_double_ =
-      static_cast<double>(update_interval_millis_int_);
+              update_interval_millis_int);
+  twerk_yaml_configs_.update_interval_millis_double_ =
+      static_cast<double>(update_interval_millis_int);
 
   load_param("base_twerk.max_permissible_displacement",
-             max_permissible_displacement_meter_,
+             twerk_yaml_configs_.max_permissible_displacement_meter_,
              "No parameter base_twerk.max_permissible_displacement is found.");
   RCLCPP_INFO(node_->get_logger(),
               " base_twerk.max_permissible_displacement is %f [m]",
-              max_permissible_displacement_meter_);
+              twerk_yaml_configs_.max_permissible_displacement_meter_);
+
+  load_param("base_twerk.max_permissible_rotation",
+             twerk_yaml_configs_.max_permissible_rotation_rad_,
+             "No parameter base_twerk.max_permissible_rotation is found.");
+  RCLCPP_INFO(node_->get_logger(),
+              " base_twerk.max_permissible_rotation is %f [rad]",
+              twerk_yaml_configs_.max_permissible_rotation_rad_);
+
+  load_param("base_twerk.min_permissible_displacement",
+             twerk_yaml_configs_.min_permissible_displacement_meter_,
+             "No parameter base_twerk.min_permissible_displacement is found.");
+  RCLCPP_INFO(node_->get_logger(),
+              " base_twerk.min_permissible_displacement is %f [m]",
+              twerk_yaml_configs_.min_permissible_displacement_meter_);
+
+  load_param("base_twerk.min_permissible_rotation",
+             twerk_yaml_configs_.min_permissible_rotation_rad_,
+             "No parameter base_twerk.min_permissible_rotation is found.");
+  RCLCPP_INFO(node_->get_logger(),
+              " base_twerk.min_permissible_rotation is %f [rad]",
+              twerk_yaml_configs_.min_permissible_rotation_rad_);
 }
 
 } // namespace penta_pod::kin::base_twerk
diff --git a/penta_description/config/general_config.yaml b/penta_description/config/general_config.yaml
index 5ef81e7..2dffb6a 100644
--- a/penta_description/config/general_config.yaml
+++ b/penta_description/config/general_config.yaml
@@ -49,7 +49,10 @@
     base_twerk:
       base_frame_transform_update_interval_millis: 20
       action_server_service_call_interval_millis: 100
-      max_permissible_displacement: 0.075
+      max_permissible_displacement: 0.075 # meter
+      max_permissible_rotation: 0.15 # rad
+      min_permissible_displacement: 0.001 # meter
+      min_permissible_rotation: 0.001 # rad
       tracking_linear_velocity: 0.5 # [m/sec]
       tracking_angular_velocity: 1.0 # [rad/sec]
     i2c_actuators_params:

From 2eddf1b8092bf74caf3c27034d10fb6cdeb85662 Mon Sep 17 00:00:00 2001
From: "Safeea, Mohammad" <mohammad.safeea@hilti.com>
Date: Thu, 29 May 2025 12:02:32 +0200
Subject: [PATCH 39/58] round time into multiples of period

---
 .../base_twerk/base_twerk_helper_funs.hpp     | 25 +++++++++++++++++++
 1 file changed, 25 insertions(+)
 create mode 100644 base_twerk/include/base_twerk/base_twerk_helper_funs.hpp

diff --git a/base_twerk/include/base_twerk/base_twerk_helper_funs.hpp b/base_twerk/include/base_twerk/base_twerk_helper_funs.hpp
new file mode 100644
index 0000000..85d7edc
--- /dev/null
+++ b/base_twerk/include/base_twerk/base_twerk_helper_funs.hpp
@@ -0,0 +1,25 @@
+#ifndef BASE_TWERK_BASE_TWERK_HELPER_FUNS_HPP_
+#define BASE_TWERK_BASE_TWERK_HELPER_FUNS_HPP_
+
+#include "math.h"
+
+auto get_rounded_dance_time_from_goal_millis(double w, int dance_time_millis)
+    -> std::chrono::milliseconds {
+
+  constexpr double to_millis = 1000.0;
+
+  auto dance_period_seconds = 2 * M_PI / w;
+  auto dance_time_seconds = static_cast<double>(dance_time_millis) / to_millis;
+
+  auto num_periods = dance_time_seconds / dance_period_seconds;
+
+  auto rounded_periods =
+      std::round(num_periods) + 1; // +1 to ensure at least one period
+
+  auto rounded_dance_time_millis =
+      static_cast<long>(rounded_periods * dance_period_seconds * to_millis);
+
+  return std::chrono::milliseconds(rounded_dance_time_millis);
+}
+
+#endif // BASE_TWERK_BASE_TWERK_HELPER_FUNS_HPP_
\ No newline at end of file

From ae9e35586d2f48ff1906627f960b2f0cac879f37 Mon Sep 17 00:00:00 2001
From: "Safeea, Mohammad" <mohammad.safeea@hilti.com>
Date: Tue, 3 Jun 2025 17:36:24 +0200
Subject: [PATCH 40/58] update timing interval

---
 penta_description/config/general_config.yaml | 6 +++---
 1 file changed, 3 insertions(+), 3 deletions(-)

diff --git a/penta_description/config/general_config.yaml b/penta_description/config/general_config.yaml
index 2dffb6a..eb7818f 100644
--- a/penta_description/config/general_config.yaml
+++ b/penta_description/config/general_config.yaml
@@ -43,12 +43,12 @@
           0, 4, 3, 2, 1
         ]
     joints_aggregator:
-      joints_update_interval_millis: 10
+      joints_update_interval_millis: 33
       publish_joints_only_on_value_change: true
       number_of_messages_forcely_published_on_startup: 1000 # 0 means no messages will be published on startup
     base_twerk:
-      base_frame_transform_update_interval_millis: 20
-      action_server_service_call_interval_millis: 100
+      base_frame_transform_update_interval_millis: 33
+      action_server_service_call_interval_millis: 33
       max_permissible_displacement: 0.075 # meter
       max_permissible_rotation: 0.15 # rad
       min_permissible_displacement: 0.001 # meter

From 6cb2f65eece17407c6001865c1f2f4c9b886296d Mon Sep 17 00:00:00 2001
From: "Safeea, Mohammad" <mohammad.safeea@hilti.com>
Date: Tue, 3 Jun 2025 17:42:53 +0200
Subject: [PATCH 41/58] add teleop package into main bringup

---
 penta_pod/package.xml | 1 +
 1 file changed, 1 insertion(+)

diff --git a/penta_pod/package.xml b/penta_pod/package.xml
index e0b6f7f..669e79f 100644
--- a/penta_pod/package.xml
+++ b/penta_pod/package.xml
@@ -12,6 +12,7 @@
   <exec_depend>gait_generator</exec_depend>
   <exec_depend>joints_aggregator</exec_depend>
   <exec_depend>base_twerk</exec_depend>
+  <exec_depend>penta_teleop</exec_depend>
 
   <exec_depend>penta_i2c_actuators</exec_depend>
   

From a2c40fa99c20d55bd1f8ddcd637a4ad83c1a25e6 Mon Sep 17 00:00:00 2001
From: "Safeea, Mohammad" <mohammad.safeea@hilti.com>
Date: Sun, 8 Jun 2025 03:39:44 +0200
Subject: [PATCH 42/58] fix rviz not finding stl files

---
 penta_description/urdf/penta.urdf.xacro       | 4 ++--
 penta_description/urdf/single_limb.urdf.xacro | 6 +++---
 2 files changed, 5 insertions(+), 5 deletions(-)

diff --git a/penta_description/urdf/penta.urdf.xacro b/penta_description/urdf/penta.urdf.xacro
index ed23a32..6e5e65c 100644
--- a/penta_description/urdf/penta.urdf.xacro
+++ b/penta_description/urdf/penta.urdf.xacro
@@ -25,7 +25,7 @@
   <link name="base_link">
     <visual>
       <geometry>
-        <mesh filename="package://penta_description/meshes/visual/penta_stl_v1/Chassi_middle.stl" scale="0.001 0.001 0.001"/>
+        <mesh filename="file://$(find penta_description)/meshes/visual/penta_stl_v1/Chassi_middle.stl" scale="0.001 0.001 0.001"/>
       </geometry>
       <origin xyz="0.0 0.0 0.0" rpy="0 0 ${base_visual_yaw}"/>
       <xacro:add_material_red/>
@@ -68,7 +68,7 @@
     <link name="${name}_link">
       <visual>
         <geometry>
-          <mesh filename="package://penta_description/meshes/visual/penta_stl_v1/${stl_file_name}" scale="0.001 0.001 0.001"/>
+          <mesh filename="file://$(find penta_description)/meshes/visual/penta_stl_v1/${stl_file_name}" scale="0.001 0.001 0.001"/>
         </geometry>
         <origin xyz="0.0 0.0 0.0" rpy="0 0 ${base_visual_yaw}"/>
         <xacro:add_material_red/>
diff --git a/penta_description/urdf/single_limb.urdf.xacro b/penta_description/urdf/single_limb.urdf.xacro
index b14f69c..ec8c39a 100644
--- a/penta_description/urdf/single_limb.urdf.xacro
+++ b/penta_description/urdf/single_limb.urdf.xacro
@@ -21,7 +21,7 @@
     <link name="${prefix}_shoulder_link">
       <visual>
         <geometry>
-          <mesh filename="package://penta_description/meshes/visual/penta_stl_v1/Shoulder.stl" scale="0.001 0.001 0.001"/>
+          <mesh filename="file://$(find penta_description)/meshes/visual/penta_stl_v1/Shoulder.stl" scale="0.001 0.001 0.001"/>
         </geometry>
         <origin xyz="0.0 0.0 0.0" rpy="-${PI2} 0 0"/>
         <xacro:add_material_red/>
@@ -36,7 +36,7 @@
     <link name="${prefix}_upper_arm_link">
       <visual>
         <geometry>
-          <mesh filename="package://penta_description/meshes/visual/penta_stl_v1/Upper_arm.stl" scale="0.001 0.001 0.001"/>
+          <mesh filename="file://$(find penta_description)/meshes/visual/penta_stl_v1/Upper_arm.stl" scale="0.001 0.001 0.001"/>
         </geometry>
         <origin xyz="0.0 0.0 0.0" rpy="0 0 0"/>
         <xacro:add_material_red/>
@@ -51,7 +51,7 @@
     <link name="${prefix}_lower_arm_link">
       <visual>
         <geometry>
-          <mesh filename="package://penta_description/meshes/visual/penta_stl_v1/Lower_arm.stl" scale="0.001 0.001 0.001"/>
+          <mesh filename="file://$(find penta_description)/meshes/visual/penta_stl_v1/Lower_arm.stl" scale="0.001 0.001 0.001"/>
         </geometry>
         <origin xyz="0.0 0.0 0.0" rpy="-${PI2} ${PI2} 0.41"/>
         <xacro:add_material_red/>

From 546969aa5ee2462aed05d75e30ae51ac7ec43746 Mon Sep 17 00:00:00 2001
From: "Safeea, Mohammad" <mohammad.safeea@hilti.com>
Date: Sun, 8 Jun 2025 13:30:30 +0200
Subject: [PATCH 43/58] gait frequency and step height into yaml

---
 .../include/gait_generator/gait_generator.hpp |  9 ++++++-
 .../gait_generator/gait_generator_core.cpp    | 23 +++++++++--------
 .../gait_generator_parameters.cpp             | 25 ++++++++++++++++---
 3 files changed, 42 insertions(+), 15 deletions(-)

diff --git a/gait_generator/include/gait_generator/gait_generator.hpp b/gait_generator/include/gait_generator/gait_generator.hpp
index a3638c0..d9040b7 100644
--- a/gait_generator/include/gait_generator/gait_generator.hpp
+++ b/gait_generator/include/gait_generator/gait_generator.hpp
@@ -36,10 +36,17 @@ class GaitGenerator {
   rclcpp::Node::SharedPtr node_;
   std::vector<double> q_state;
 
-  double current_phase_, max_gait_linear_speed_, max_gait_turning_speed_;
+  double current_phase_;
   bool is_walking_{false};
   int feet_num_;
 
+  struct GaitParameters {
+    double gait_radial_frequency;  // rad/s
+    double step_height;            // m
+    double max_gait_linear_speed;  // m/s
+    double max_gait_turning_speed; // rad/s
+  } gait_parameters_;
+
   struct GatiPatterns {
     int active_gait_index_ = 0;
     int gaits_num_ = 0;
diff --git a/gait_generator/src/gait_generator/gait_generator_core.cpp b/gait_generator/src/gait_generator/gait_generator_core.cpp
index 1e0fd8c..de47488 100644
--- a/gait_generator/src/gait_generator/gait_generator_core.cpp
+++ b/gait_generator/src/gait_generator/gait_generator_core.cpp
@@ -98,13 +98,16 @@ void GaitGenerator::cmd_vel_sub_callback(
 
   auto mag =
       std::sqrt(msg->linear.x * msg->linear.x + msg->linear.y * msg->linear.y);
-  if (mag > max_gait_linear_speed_) {
-    msg->linear.x = msg->linear.x * max_gait_linear_speed_ / mag;
-    msg->linear.y = msg->linear.y * max_gait_linear_speed_ / mag;
+  if (mag > gait_parameters_.max_gait_linear_speed) {
+    msg->linear.x =
+        msg->linear.x * gait_parameters_.max_gait_linear_speed / mag;
+    msg->linear.y =
+        msg->linear.y * gait_parameters_.max_gait_linear_speed / mag;
   }
   mag = std::abs(msg->angular.z);
-  if (mag > max_gait_turning_speed_) {
-    msg->angular.z = msg->angular.z * max_gait_turning_speed_ / mag;
+  if (mag > gait_parameters_.max_gait_turning_speed) {
+    msg->angular.z =
+        msg->angular.z * gait_parameters_.max_gait_turning_speed / mag;
   }
   cmd_vel_ = *msg;
   /*
@@ -125,7 +128,7 @@ void GaitGenerator::cmd_null_pos_sub_callback(
   body_basefootprint_.rotation.y = msg->pose.orientation.y;
   body_basefootprint_.rotation.z = msg->pose.orientation.z;
   body_basefootprint_.rotation.w = msg->pose.orientation.w;
-  
+
   // consider the rotation absolute (initial rotation must be the identity)
   // body_basefootprint_.rotation. = msg->rotation;
   // RCLCPP_INFO(node_->get_logger(),
@@ -139,7 +142,7 @@ void GaitGenerator::cmd_null_pos_sub_callback(
 void GaitGenerator::update_phase(double delta_t_milli) {
 
   auto delta_t_sec = delta_t_milli / 1000.;
-  double w = 2.5;
+  double w = gait_parameters_.gait_radial_frequency;
 
   // check if cmd_vel is zero and feet near the equilibrium
   double vel_mag = std::sqrt(cmd_vel_.linear.x * cmd_vel_.linear.x +
@@ -172,12 +175,12 @@ void GaitGenerator::update_feet_positions(double delta_t_milli) {
   double dx = cmd_vel_.linear.x * delta_t_sec;
   double dy = cmd_vel_.linear.y * delta_t_sec;
   double d_theta = cmd_vel_.angular.z * delta_t_sec;
-  double b = 0.05;
+  double b = gait_parameters_.step_height;
   auto gait_pattern = gait_patterns_.get_active_pattern();
   for (int i = 0; i < feet_num_; i++) {
     auto foot_index = gait_pattern[i];
-    auto temp = foot_pos_z_generator(b, current_phase_,
-                                     phase_shift_vec_[i], feet_num_);
+    auto temp =
+        foot_pos_z_generator(b, current_phase_, phase_shift_vec_[i], feet_num_);
     if (temp == 0.) {
       double x = feet_pos_in_footprint_[foot_index].x;
       double y = feet_pos_in_footprint_[foot_index].y;
diff --git a/gait_generator/src/gait_generator/gait_generator_parameters.cpp b/gait_generator/src/gait_generator/gait_generator_parameters.cpp
index fbbf191..7200216 100644
--- a/gait_generator/src/gait_generator/gait_generator_parameters.cpp
+++ b/gait_generator/src/gait_generator/gait_generator_parameters.cpp
@@ -17,6 +17,8 @@ void GaitGenerator::declare_parameters() {
   node_->declare_parameter<int>("gait_parameters.gait_patterns.num");
   node_->declare_parameter<std::vector<long int>>(
       "gait_parameters.gait_patterns.feet_order", std::vector<long int>{});
+  node_->declare_parameter<double>("gait_parameters.gait_radial_frequency");
+  node_->declare_parameter<double>("gait_parameters.step_height");
 }
 
 void GaitGenerator::load_parameters() {
@@ -121,19 +123,34 @@ void GaitGenerator::load_parameters() {
   body_basefootprint_ = transform;
 
   // Load gait parameters
-  load_param("gait_parameters.max_gait_linear_speed", max_gait_linear_speed_,
+  load_param("gait_parameters.max_gait_linear_speed",
+             gait_parameters_.max_gait_linear_speed,
              "Parameter gait_parameters.max_gait_linear_speed was not found.");
   RCLCPP_INFO(
       node_->get_logger(),
       "Loaded gait_parameters.max_gait_linear_speed value is: %f [m/sec]",
-      max_gait_linear_speed_);
+      gait_parameters_.max_gait_linear_speed);
 
-  load_param("gait_parameters.max_gait_turning_speed", max_gait_turning_speed_,
+  load_param("gait_parameters.max_gait_turning_speed",
+             gait_parameters_.max_gait_turning_speed,
              "Parameter gait_parameters.max_gait_turning_speed was not found.");
   RCLCPP_INFO(
       node_->get_logger(),
       "Loaded gait_parameters.max_gait_turning_speed value is: %f [rad/sec]",
-      max_gait_turning_speed_);
+      gait_parameters_.max_gait_turning_speed);
+
+  load_param("gait_parameters.gait_radial_frequency",
+             gait_parameters_.gait_radial_frequency,
+             "Parameter gait_parameters.gait_radial_frequency was not found.");
+  RCLCPP_INFO(node_->get_logger(),
+              "Loaded gait_parameters.gait_radial_frequency value is: %f [Hz]",
+              gait_parameters_.gait_radial_frequency);
+
+  load_param("gait_parameters.step_height", gait_parameters_.step_height,
+             "Parameter gait_parameters.step_height was not found.");
+  RCLCPP_INFO(node_->get_logger(),
+              "Loaded gait_parameters.step_height value is: %f [m]",
+              gait_parameters_.step_height);
 
   // load gait patterns
   load_param("gait_parameters.gait_patterns.num", gait_patterns_.gaits_num_,

From e1b54b0c1afa5a63d5a0d0f7e068f827edb05759 Mon Sep 17 00:00:00 2001
From: "Safeea, Mohammad" <mohammad.safeea@hilti.com>
Date: Sun, 8 Jun 2025 13:30:43 +0200
Subject: [PATCH 44/58] gait frequency and step height into yaml

---
 penta_description/config/general_config.yaml | 2 ++
 1 file changed, 2 insertions(+)

diff --git a/penta_description/config/general_config.yaml b/penta_description/config/general_config.yaml
index eb7818f..d78340b 100644
--- a/penta_description/config/general_config.yaml
+++ b/penta_description/config/general_config.yaml
@@ -33,6 +33,8 @@
       0.0, 0.0, 90.0,
     ]
     gait_parameters:
+      gait_radial_frequency: 2.5 # rad per sec
+      step_height: 0.05 # meter
       max_gait_linear_speed: 0.035 # meter per sec
       max_gait_turning_speed: 0.25 # rad per sec
       gait_patterns:

From bd59f4c1821e298d5de945b00c4af3f1084c74c1 Mon Sep 17 00:00:00 2001
From: "Safeea, Mohammad" <mohammad.safeea@hilti.com>
Date: Sun, 8 Jun 2025 16:27:03 +0200
Subject: [PATCH 45/58] allow pitch control using D-pad

---
 .../base_twerk/base_twerk_action_server.cpp   |  2 +-
 commons/include/commons/quaternion_utils.hpp  |  4 +++
 penta_teleop/CMakeLists.txt                   |  2 ++
 penta_teleop/README.md                        |  6 +++--
 .../penta_teleop/joystick_extra_controls.hpp  |  2 +-
 .../penta_teleop/joystick_extra_controls.cpp  | 25 ++++++++++++++++---
 6 files changed, 33 insertions(+), 8 deletions(-)

diff --git a/base_twerk/src/base_twerk/base_twerk_action_server.cpp b/base_twerk/src/base_twerk/base_twerk_action_server.cpp
index 75580a6..1b448e6 100644
--- a/base_twerk/src/base_twerk/base_twerk_action_server.cpp
+++ b/base_twerk/src/base_twerk/base_twerk_action_server.cpp
@@ -216,7 +216,7 @@ auto BaseTwerkActionServer::calculate_twerk_pose_from_goal(
   auto roll = rpy[0];
   auto pitch = rpy[1];
   auto yaw = rpy[2];
-  pose.pose.orientation = rpy_to_quaternion(yaw, pitch, roll);
+  pose.pose.orientation = penta_pod::kin::commons::quaternion_utils::rpy_to_quaternion(yaw, pitch, roll);
   return pose;
 }
 
diff --git a/commons/include/commons/quaternion_utils.hpp b/commons/include/commons/quaternion_utils.hpp
index e7b6cb6..a82bf87 100644
--- a/commons/include/commons/quaternion_utils.hpp
+++ b/commons/include/commons/quaternion_utils.hpp
@@ -3,6 +3,8 @@
 
 #include "geometry_msgs/msg/quaternion.hpp"
 
+namespace penta_pod::kin::commons::quaternion_utils {
+
 using geometry_msgs::msg::Quaternion;
 
 Quaternion rpy_to_quaternion(double yaw, double pitch, double roll) // yaw (Z), pitch (Y), roll (X)
@@ -35,4 +37,6 @@ Quaternion hamilton_product(Quaternion u, Quaternion v)
 
 }
 
+} // namespace penta_pod::kin::commons::quaternion_utils
+
 #endif // COMMONS_QUAT_UTILS_HPP_
\ No newline at end of file
diff --git a/penta_teleop/CMakeLists.txt b/penta_teleop/CMakeLists.txt
index 8a7befc..e0b884f 100644
--- a/penta_teleop/CMakeLists.txt
+++ b/penta_teleop/CMakeLists.txt
@@ -12,6 +12,7 @@ find_package(sensor_msgs REQUIRED)
 find_package(base_twerk_msgs REQUIRED)
 find_package(gait_generator_msgs REQUIRED)
 find_package(rclcpp_action REQUIRED)
+find_package(commons REQUIRED)
 
 # Declare library
 add_library(${PROJECT_NAME}
@@ -30,6 +31,7 @@ ament_target_dependencies(${PROJECT_NAME}
         base_twerk_msgs
         gait_generator_msgs
         rclcpp_action
+        commons
         )
 
 add_executable(joystick_extra_controls_node src/joystick_extra_controls_node.cpp)
diff --git a/penta_teleop/README.md b/penta_teleop/README.md
index d4097a6..5f39f4f 100644
--- a/penta_teleop/README.md
+++ b/penta_teleop/README.md
@@ -20,11 +20,13 @@ Connect the dongle to Raspberry PI, to control the robot as follows:
 
 6- `B button` to start executing the twerk motion
 
+7- `D-pad + Right Trigger button (RT)` allow the robot to pitch
+
 
 Note, make sure to enable the motion using:
 
-1- `Right Trigger button (RT)` to enable the turbo mode
+1- `Right Trigger button (RT)` to enable walking in turbo mode
 
-2- `Left Trigger button (LT)` to enable slow motion mode
+2- `Left Trigger button (LT)` to enable waling in slow mode
 
 3- Walking pattern changes only when the robot is in stand-still
\ No newline at end of file
diff --git a/penta_teleop/include/penta_teleop/joystick_extra_controls.hpp b/penta_teleop/include/penta_teleop/joystick_extra_controls.hpp
index 199d7f5..f590a09 100644
--- a/penta_teleop/include/penta_teleop/joystick_extra_controls.hpp
+++ b/penta_teleop/include/penta_teleop/joystick_extra_controls.hpp
@@ -51,7 +51,7 @@ class JoystickExtraControls {
   /* get/set base pose */
   void handle_get_base_pose_response(
       rclcpp::Client<GetCurrentBasePose>::SharedFuture response,
-      double z_disp_base_command);
+      double z_disp_base_command, double pitch_disp_base_command);
   void handle_set_base_pose_response(
       rclcpp::Client<BasePoseSetpoint>::SharedFuture response);
 
diff --git a/penta_teleop/src/penta_teleop/joystick_extra_controls.cpp b/penta_teleop/src/penta_teleop/joystick_extra_controls.cpp
index 96f2b9c..2349ca2 100644
--- a/penta_teleop/src/penta_teleop/joystick_extra_controls.cpp
+++ b/penta_teleop/src/penta_teleop/joystick_extra_controls.cpp
@@ -1,4 +1,5 @@
 #include "penta_teleop/joystick_extra_controls.hpp"
+#include "commons/quaternion_utils.hpp"
 
 namespace penta_pod::teleop::joystick_extra_controls {
 
@@ -40,7 +41,7 @@ JoystickExtraControls::JoystickExtraControls()
 void JoystickExtraControls::joy_sub_callback(
     const sensor_msgs::msg::Joy::SharedPtr msg) {
 
-  // move base up and down
+  // move base up and down or yaw control
   dpad_up_down(msg);
   // change walking pattern
   set_gait_pattern(msg);
@@ -159,6 +160,16 @@ void JoystickExtraControls::dpad_up_down(
     double delta_z = 0.001;
     double z_disp_base_command = msg->axes[7] * delta_z;
 
+    double delta_pitch = 0.01;
+    double pitch_disp_base_command = msg->axes[7] * delta_pitch;
+
+    if (msg->buttons[5] == 1) {
+      // If button 5 is pressed, use yaw control instead of z control
+      z_disp_base_command = 0.0;
+    } else {
+      pitch_disp_base_command = 0.0;
+    }
+
     // Check if the service is available before calling
     if (!get_current_base_pose_client_->wait_for_service(
             std::chrono::seconds(100))) {
@@ -173,16 +184,17 @@ void JoystickExtraControls::dpad_up_down(
     // Call the service asynchronously with a callback
     auto future = get_current_base_pose_client_->async_send_request(
         request,
-        [this, z_disp_base_command](
+        [this, z_disp_base_command, pitch_disp_base_command](
             rclcpp::Client<GetCurrentBasePose>::SharedFuture response) {
-          this->handle_get_base_pose_response(response, z_disp_base_command);
+          this->handle_get_base_pose_response(response, z_disp_base_command,
+                                              pitch_disp_base_command);
         });
   }
 }
 
 void JoystickExtraControls::handle_get_base_pose_response(
     rclcpp::Client<GetCurrentBasePose>::SharedFuture response,
-    double z_disp_base_command) {
+    double z_disp_base_command, double pitch_disp_base_command) {
 
   auto result = response.get();
 
@@ -218,6 +230,11 @@ void JoystickExtraControls::handle_get_base_pose_response(
   setpoint_request->pose = result->pose;
   setpoint_request->pose.pose.position.z += z_disp_base_command;
 
+  using namespace penta_pod::kin::commons::quaternion_utils;
+  auto pitch_quaternion = rpy_to_quaternion(0.0, pitch_disp_base_command, 0.0); // yaw, pitch, roll
+  setpoint_request->pose.pose.orientation =
+      hamilton_product(setpoint_request->pose.pose.orientation, pitch_quaternion);
+  
   // Call the set_base_pose service asynchronously
   auto future = set_base_pose_client_->async_send_request(
       setpoint_request,

From 3a4f29ce0d8b76c170f59e2bc5fae31c146f08c6 Mon Sep 17 00:00:00 2001
From: "Safeea, Mohammad" <mohammad.safeea@hilti.com>
Date: Sun, 27 Jul 2025 22:40:48 +0200
Subject: [PATCH 46/58] add missing packages

---
 .devcontainer/Dockerfile          | 52 +++++++++++++++++++++++++++++--
 .devcontainer/docker-compose.yaml |  3 ++
 2 files changed, 53 insertions(+), 2 deletions(-)

diff --git a/.devcontainer/Dockerfile b/.devcontainer/Dockerfile
index 94d4dc6..c0fc6a8 100644
--- a/.devcontainer/Dockerfile
+++ b/.devcontainer/Dockerfile
@@ -14,11 +14,59 @@ RUN apt install -y wget python3-rosdep
 
 # Init and update rosdep
 RUN [ -f /etc/ros/rosdep/sources.list.d/20-default.list ] || rosdep init && \
-    rosdep update --rosdistro=humble
+    rosdep update --rosdistro=${ROS_DISTRO}
+
+# Install ROS 2 control
+RUN apt update && apt install -y \
+    ros-${ROS_DISTRO}-ros2-control \
+    ros-${ROS_DISTRO}-ros2-controllers \
+    ros-${ROS_DISTRO}-controller-manager \
+    ros-${ROS_DISTRO}-joint-state-broadcaster
+
+# Install nav2
+RUN apt install -y ros-${ROS_DISTRO}-navigation2 ros-${ROS_DISTRO}-nav2-bringup ros-${ROS_DISTRO}-rmw-cyclonedds-cpp
+
+# Install Gazebo Classic and ROS 2 Gazebo integration
+RUN apt update && apt install -y \
+    ros-${ROS_DISTRO}-gazebo-ros \
+    ros-${ROS_DISTRO}-gazebo-ros2-control \
+    ros-${ROS_DISTRO}-joint-state-publisher \
+    ros-${ROS_DISTRO}-joint-state-publisher-gui \
+    ros-dev-tools \
+    ros-${ROS_DISTRO}-xacro \
+    ros-${ROS_DISTRO}-gazebo-plugins \
+    ros-${ROS_DISTRO}-gazebo-ros-pkgs \
+    ros-${ROS_DISTRO}-gazebo-dev
+
+# Install additional ROS2 utils
+RUN apt-get update && apt-get install -y \
+    ros-${ROS_DISTRO}-rqt \
+    ros-${ROS_DISTRO}-rqt-common-plugins \
+    ros-${ROS_DISTRO}-rqt-gui \
+    ros-${ROS_DISTRO}-rqt-gui-py \
+    ros-${ROS_DISTRO}-rqt-image-view \
+    ros-${ROS_DISTRO}-rqt-robot-steering \
+    ros-${ROS_DISTRO}-rqt-tf-tree \
+    ros-${ROS_DISTRO}-tf2-tools \
+    ros-${ROS_DISTRO}-tf2-geometry-msgs \
+    ros-${ROS_DISTRO}-plotjuggler \
+    ros-${ROS_DISTRO}-plotjuggler-ros
+
+# Install adafruit i2c librarries
+RUN apt install -y \
+    python3-pip \
+    python3-setuptools \
+    python3-wheel \
+    python3-smbus \
+    i2c-tools
+
+RUN pip3 install --no-cache-dir \
+    RPi.GPIO \
+    adafruit-blinka
 
 # Set up the workspace directory
 WORKDIR $COLCON_WORKSPACE/src
 
 # Add sourcing ROS setup.bash to .bashrc
 RUN echo "source /opt/ros/${ROS_DISTRO}/setup.bash"     >> ~/.bashrc
-RUN echo "export ROS_DOMAIN_ID=91"                      >> ~/.bashrc
+
diff --git a/.devcontainer/docker-compose.yaml b/.devcontainer/docker-compose.yaml
index 0dc2d0a..024f03b 100644
--- a/.devcontainer/docker-compose.yaml
+++ b/.devcontainer/docker-compose.yaml
@@ -10,6 +10,9 @@ services:
     environment:
       - ROS_DOMAIN_ID=91
     network_mode: "host"
+    devices:
+      - "/dev/i2c-1:/dev/i2c-1"
+    privileged: true
     command: ["/bin/bash", "-c", "/root/ros_ws/src/.devcontainer/entrypoint.sh"]
 
   scorpion-ros2-test:

From 0e57dee652365df337fdaa91534459c7f4217612 Mon Sep 17 00:00:00 2001
From: "Safeea, Mohammad" <mohammad.safeea@hilti.com>
Date: Sat, 27 Sep 2025 10:10:00 +0200
Subject: [PATCH 47/58] smoothen joystick's linear and angular velocities

---
 penta_teleop/CMakeLists.txt                   |   7 ++
 penta_teleop/config/cmd_vel_smoothing.yaml    |   6 +
 .../penta_teleop/cmd_vel_smoothing.hpp        |  47 ++++++++
 penta_teleop/launch/teleop_joystick.launch.py |  18 ++-
 penta_teleop/src/cmd_vel_smoothing_node.cpp   |  19 +++
 .../src/penta_teleop/cmd_vel_smoothing.cpp    | 111 ++++++++++++++++++
 6 files changed, 207 insertions(+), 1 deletion(-)
 create mode 100644 penta_teleop/config/cmd_vel_smoothing.yaml
 create mode 100644 penta_teleop/include/penta_teleop/cmd_vel_smoothing.hpp
 create mode 100644 penta_teleop/src/cmd_vel_smoothing_node.cpp
 create mode 100644 penta_teleop/src/penta_teleop/cmd_vel_smoothing.cpp

diff --git a/penta_teleop/CMakeLists.txt b/penta_teleop/CMakeLists.txt
index e0b884f..44967ea 100644
--- a/penta_teleop/CMakeLists.txt
+++ b/penta_teleop/CMakeLists.txt
@@ -18,6 +18,7 @@ find_package(commons REQUIRED)
 add_library(${PROJECT_NAME}
         src/${PROJECT_NAME}/joystick_extra_controls.cpp
         src/${PROJECT_NAME}/declare_load_parameters.cpp
+        src/${PROJECT_NAME}/cmd_vel_smoothing.cpp
         )
 
 target_include_directories(${PROJECT_NAME}
@@ -39,6 +40,11 @@ target_link_libraries(joystick_extra_controls_node
         ${PROJECT_NAME}
         )
 
+add_executable(cmd_vel_smoothing_node src/cmd_vel_smoothing_node.cpp)
+target_link_libraries(cmd_vel_smoothing_node
+        ${PROJECT_NAME}
+        )
+
 # Install
 install(
   DIRECTORY include/
@@ -47,6 +53,7 @@ install(
 
 install(TARGETS 
   joystick_extra_controls_node
+  cmd_vel_smoothing_node
   DESTINATION lib/${PROJECT_NAME}
 )
 
diff --git a/penta_teleop/config/cmd_vel_smoothing.yaml b/penta_teleop/config/cmd_vel_smoothing.yaml
new file mode 100644
index 0000000..3d43889
--- /dev/null
+++ b/penta_teleop/config/cmd_vel_smoothing.yaml
@@ -0,0 +1,6 @@
+/**:
+  ros__parameters:
+    max_linear_acceleration: 0.1   # m/s^2
+    max_angular_acceleration: 1.0  # rad/s^2
+    publishing_rate: 100.0         # hz
+    input_cmd_vel_timeout_sec: 0.2 # seconds
\ No newline at end of file
diff --git a/penta_teleop/include/penta_teleop/cmd_vel_smoothing.hpp b/penta_teleop/include/penta_teleop/cmd_vel_smoothing.hpp
new file mode 100644
index 0000000..3f6f858
--- /dev/null
+++ b/penta_teleop/include/penta_teleop/cmd_vel_smoothing.hpp
@@ -0,0 +1,47 @@
+#ifndef CMD_VEL_SMOOTHING_HPP
+#define CMD_VEL_SMOOTHING_HPP
+
+#include <rclcpp/rclcpp.hpp>
+#include <geometry_msgs/msg/twist.hpp>
+
+
+namespace penta_pod::teleop::twist_smoothing
+{
+
+class CmdVelSmoothing
+{
+    using Twist = geometry_msgs::msg::Twist;
+
+public:
+    CmdVelSmoothing(rclcpp::Node::SharedPtr node);
+
+
+private:
+    rclcpp::Node::SharedPtr node_;
+    rclcpp::TimerBase::SharedPtr timer_;
+
+    rclcpp::Subscription<Twist>::SharedPtr cmd_vel_sub_;
+    rclcpp::Publisher<Twist>::SharedPtr smoothed_cmd_vel_pub_;
+    Twist::SharedPtr target_cmd_vel_;
+    Twist::SharedPtr smoothed_cmd_vel_;
+
+    struct node_parameters {
+        double max_linear_acceleration;
+        double max_angular_acceleration;
+        double publishing_rate;
+        double input_cmd_vel_timeout_sec;
+    } params_;
+    double last_cmd_vel_time_;
+
+    double smoothenScalar(double target, double current, double acc, double timer_interval_sec);
+    auto smoothenTwist(const Twist& target_cmd_vel, const Twist& current_cmd_vel, double timer_interval_sec) -> Twist::SharedPtr;
+
+
+    void declare_parameters();
+    void load_parameters();
+    void cmdVelCallback(const Twist::SharedPtr msg);
+};
+
+} // namespace penta_pod::teleop::twist_smoothing
+
+#endif // CMD_VEL_SMOOTHING_HPP
\ No newline at end of file
diff --git a/penta_teleop/launch/teleop_joystick.launch.py b/penta_teleop/launch/teleop_joystick.launch.py
index 367c2d6..026bdb1 100644
--- a/penta_teleop/launch/teleop_joystick.launch.py
+++ b/penta_teleop/launch/teleop_joystick.launch.py
@@ -37,7 +37,7 @@ def generate_launch_description():
         name="teleop_node",
         namespace=LaunchConfiguration("name_space"),
         parameters=[joy_params],
-        # remappings=[("/cmd_vel", "/input/cmd_vel_teleop_joy")],
+        remappings=[("cmd_vel", "cmd_vel_not_smoothed")],
     )
 
     joystick_extra_controls_configs = os.path.join(
@@ -61,10 +61,26 @@ def generate_launch_description():
         parameters=[joystick_extra_controls_configs, general_config_params],
     )
 
+    cmd_vel_smoothing_configs = os.path.join(
+        get_package_share_directory("penta_teleop"), "config", "cmd_vel_smoothing.yaml"
+    )
+    cmd_vel_smoothing_node = Node(
+        package="penta_teleop",
+        executable="cmd_vel_smoothing_node",
+        name="cmd_vel_smoothing_node",
+        namespace=LaunchConfiguration("name_space"),
+        remappings=[
+            ("cmd_vel", "cmd_vel_not_smoothed"),
+            ("smoothed_cmd_vel", "cmd_vel"),
+        ],
+        parameters=[cmd_vel_smoothing_configs],
+    )
+
     nodes = [
         joy_node,
         teleop_twist_joy_node,
         joystick_extra_controls_node,
+        cmd_vel_smoothing_node,
     ]
     for node in nodes:
         ld.add_action(node)
diff --git a/penta_teleop/src/cmd_vel_smoothing_node.cpp b/penta_teleop/src/cmd_vel_smoothing_node.cpp
new file mode 100644
index 0000000..29163bf
--- /dev/null
+++ b/penta_teleop/src/cmd_vel_smoothing_node.cpp
@@ -0,0 +1,19 @@
+#include "penta_teleop/cmd_vel_smoothing.hpp"
+
+int main(int argc, char **argv) {
+  rclcpp::init(argc, argv);
+
+  // Create a shared node instance
+  rclcpp::Node::SharedPtr node =
+      rclcpp::Node::make_shared("twist_smoothing_node");
+
+  using penta_pod::teleop::twist_smoothing::CmdVelSmoothing;
+  auto twist_smoothing = CmdVelSmoothing(node);
+
+  // Spin
+  rclcpp::spin(node);
+
+  // Cleanup
+  rclcpp::shutdown();
+  return 0;
+}
diff --git a/penta_teleop/src/penta_teleop/cmd_vel_smoothing.cpp b/penta_teleop/src/penta_teleop/cmd_vel_smoothing.cpp
new file mode 100644
index 0000000..4f1ada9
--- /dev/null
+++ b/penta_teleop/src/penta_teleop/cmd_vel_smoothing.cpp
@@ -0,0 +1,111 @@
+#include "penta_teleop/cmd_vel_smoothing.hpp"
+
+namespace penta_pod::teleop::twist_smoothing
+{
+
+CmdVelSmoothing::CmdVelSmoothing(rclcpp::Node::SharedPtr node)
+    : node_(node) {
+    // Parameters for maximum acceleration
+    declare_parameters();
+    load_parameters();
+    smoothed_cmd_vel_ = std::make_shared<Twist>();
+    last_cmd_vel_time_ = node_->now().seconds();
+
+    // Subscriber for raw cmd_vel
+    cmd_vel_sub_ = node_->create_subscription<Twist>(
+        "cmd_vel", 10,
+        [this](const Twist::SharedPtr msg) { cmdVelCallback(msg); });
+
+    // Publisher for smoothed cmd_vel
+    smoothed_cmd_vel_pub_ = node_->create_publisher<Twist>(
+        "smoothed_cmd_vel", 10);
+
+    // Timer for periodic smoothing (if needed)
+    auto timer_interval = static_cast<int>(1000.0 / params_.publishing_rate);
+    timer_ = node_->create_wall_timer(
+        std::chrono::milliseconds(timer_interval),
+        [this]() {
+            // Check for timeout if new target is not received
+            if (node_->now().seconds() - last_cmd_vel_time_ > params_.input_cmd_vel_timeout_sec) {
+                target_cmd_vel_ = std::make_shared<Twist>(); // zero twist on timeout
+            }
+            // Filter and publish the smoothed cmd_vel
+            if (target_cmd_vel_) {
+                double timer_interval = static_cast<int>(1000.0 / params_.publishing_rate);
+                smoothed_cmd_vel_ = smoothenTwist(*target_cmd_vel_, *smoothed_cmd_vel_, timer_interval / 1000.0);
+            }
+            smoothed_cmd_vel_pub_->publish(*smoothed_cmd_vel_);
+         });
+}
+
+
+void CmdVelSmoothing::cmdVelCallback(const Twist::SharedPtr msg)
+{
+    last_cmd_vel_time_ = node_->now().seconds();
+    target_cmd_vel_ = msg;
+}
+
+double CmdVelSmoothing::smoothenScalar(double target, double current, double acc, double timer_interval_sec) {
+    double max_step = acc * timer_interval_sec;
+    double diff = target - current;
+    if (std::abs(diff) > max_step) {
+        diff = (diff > 0 ? max_step : -max_step);
+    }
+    return current + diff;
+}
+
+auto CmdVelSmoothing::smoothenTwist(const Twist& target_cmd_vel, const Twist& current_cmd_vel, double timer_interval_sec) -> Twist::SharedPtr {
+
+    double dt = timer_interval_sec;
+
+    Twist::SharedPtr smoothed_cmd_vel = std::make_shared<Twist>();
+
+    // Smooth linear.x
+    smoothed_cmd_vel->linear.x = smoothenScalar(target_cmd_vel.linear.x, current_cmd_vel.linear.x, params_.max_linear_acceleration, dt);
+    // Smooth linear.y
+    smoothed_cmd_vel->linear.y = smoothenScalar(target_cmd_vel.linear.y, current_cmd_vel.linear.y, params_.max_linear_acceleration, dt);
+
+    // Smooth angular.z
+    smoothed_cmd_vel->angular.z = smoothenScalar(target_cmd_vel.angular.z, current_cmd_vel.angular.z, params_.max_angular_acceleration, dt);
+
+    return smoothed_cmd_vel;
+}
+
+void CmdVelSmoothing::declare_parameters() {
+    node_->declare_parameter<double>("publishing_rate");
+    node_->declare_parameter<double>("max_linear_acceleration");
+    node_->declare_parameter<double>("max_angular_acceleration");
+    node_->declare_parameter<double>("input_cmd_vel_timeout_sec");
+}
+
+void CmdVelSmoothing::load_parameters() {
+    double publishing_rate_default = 10.0;
+    if (!node_->get_parameter<double>("publishing_rate", publishing_rate_default)) {
+        RCLCPP_WARN(node_->get_logger(), "Failed to load 'publishing_rate', using default: %f", publishing_rate_default);
+    } else {
+        params_.publishing_rate = publishing_rate_default;
+    }
+
+    double max_linear_acceleration_default = 0.5;
+    if (!node_->get_parameter<double>("max_linear_acceleration", max_linear_acceleration_default)) {
+        RCLCPP_WARN(node_->get_logger(), "Failed to load 'max_linear_acceleration', using default: %f", max_linear_acceleration_default);
+    } else {
+        params_.max_linear_acceleration = max_linear_acceleration_default;
+    }
+
+    double max_angular_acceleration_default = 1.0;
+    if (!node_->get_parameter<double>("max_angular_acceleration", max_angular_acceleration_default)) {
+        RCLCPP_WARN(node_->get_logger(), "Failed to load 'max_angular_acceleration', using default: %f", max_angular_acceleration_default);
+    } else {
+        params_.max_angular_acceleration = max_angular_acceleration_default;
+    }
+
+    double input_cmd_vel_timeout_sec_default = 0.2;
+    if (!node_->get_parameter<double>("input_cmd_vel_timeout_sec", input_cmd_vel_timeout_sec_default)) {
+        RCLCPP_WARN(node_->get_logger(), "Failed to load 'input_cmd_vel_timeout_sec', using default: %f", input_cmd_vel_timeout_sec_default);
+    } else {
+        params_.input_cmd_vel_timeout_sec = input_cmd_vel_timeout_sec_default;
+    }
+}
+
+} // namespace penta_pod::teleop::twist_smoothing
\ No newline at end of file

From cb666d75478bbcfe1e8d3f3540aafd4383c04f88 Mon Sep 17 00:00:00 2001
From: "mohammad.safeea" <mohammad.safeea@hilti.com>
Date: Sat, 25 Oct 2025 19:15:12 +0200
Subject: [PATCH 48/58] servo (hiwonder) motor driver

---
 .devcontainer/docker-compose.yaml             |   2 +-
 penta_hiwonder_actuators/README.md            |  29 +++
 .../launch/penta_hiwonder_actuators.launch.py |  41 ++++
 penta_hiwonder_actuators/package.xml          |  20 ++
 .../penta_hiwonder_actuators/__init__.py      |   0
 .../penta_hiwonder_actuators_node.py          | 223 ++++++++++++++++++
 .../resource/penta_hiwonder_actuators         |   0
 penta_hiwonder_actuators/setup.cfg            |   4 +
 penta_hiwonder_actuators/setup.py             |  28 +++
 .../test/test_copyright.py                    |  25 ++
 penta_hiwonder_actuators/test/test_flake8.py  |  25 ++
 penta_hiwonder_actuators/test/test_pep257.py  |  23 ++
 .../launch/realhardware_bringup.launch.py     |   8 +
 penta_pod/package.xml                         |   3 +-
 14 files changed, 429 insertions(+), 2 deletions(-)
 create mode 100644 penta_hiwonder_actuators/README.md
 create mode 100644 penta_hiwonder_actuators/launch/penta_hiwonder_actuators.launch.py
 create mode 100644 penta_hiwonder_actuators/package.xml
 create mode 100644 penta_hiwonder_actuators/penta_hiwonder_actuators/__init__.py
 create mode 100644 penta_hiwonder_actuators/penta_hiwonder_actuators/penta_hiwonder_actuators_node.py
 create mode 100644 penta_hiwonder_actuators/resource/penta_hiwonder_actuators
 create mode 100644 penta_hiwonder_actuators/setup.cfg
 create mode 100644 penta_hiwonder_actuators/setup.py
 create mode 100644 penta_hiwonder_actuators/test/test_copyright.py
 create mode 100644 penta_hiwonder_actuators/test/test_flake8.py
 create mode 100644 penta_hiwonder_actuators/test/test_pep257.py

diff --git a/.devcontainer/docker-compose.yaml b/.devcontainer/docker-compose.yaml
index 024f03b..cadb89e 100644
--- a/.devcontainer/docker-compose.yaml
+++ b/.devcontainer/docker-compose.yaml
@@ -11,7 +11,7 @@ services:
       - ROS_DOMAIN_ID=91
     network_mode: "host"
     devices:
-      - "/dev/i2c-1:/dev/i2c-1"
+      - "/dev:/dev"
     privileged: true
     command: ["/bin/bash", "-c", "/root/ros_ws/src/.devcontainer/entrypoint.sh"]
 
diff --git a/penta_hiwonder_actuators/README.md b/penta_hiwonder_actuators/README.md
new file mode 100644
index 0000000..c8ac40c
--- /dev/null
+++ b/penta_hiwonder_actuators/README.md
@@ -0,0 +1,29 @@
+# penta_hiwonder_actuators python package
+
+Control the pentapod, stream setpoints of the servo actuators over serial bus to Hiwonder motors
+
+## setup
+
+Make sure to fix the permissions for the serialbus to be accessible from the user space, and note down the serial port path and baudrate
+
+## buidling the package
+
+You can build this package
+
+```
+ colcon build --packages-select penta_hiwonder_actuators
+```
+
+## To test in simulation
+
+```
+ros2 launch penta_i2c_actuators penta_i2c_actuators.launch.py mode:=virtual
+```
+
+
+## To use on real-robot:
+
+```
+ros2 launch penta_i2c_actuators penta_i2c_actuators.launch.py mode:=real
+```
+
diff --git a/penta_hiwonder_actuators/launch/penta_hiwonder_actuators.launch.py b/penta_hiwonder_actuators/launch/penta_hiwonder_actuators.launch.py
new file mode 100644
index 0000000..95a5b83
--- /dev/null
+++ b/penta_hiwonder_actuators/launch/penta_hiwonder_actuators.launch.py
@@ -0,0 +1,41 @@
+import os
+from ament_index_python.packages import get_package_share_directory
+from launch import LaunchDescription
+from launch.actions import DeclareLaunchArgument
+from launch.substitutions import LaunchConfiguration
+from launch.conditions import IfCondition
+from launch_ros.actions import Node
+from launch_ros.substitutions import FindPackageShare
+
+def generate_launch_description():
+    # Declare the launch argument 'mode'
+    mode_arg = DeclareLaunchArgument(
+        'mode',
+        default_value='real',
+        description='Choose operation mode: real or virtual'
+    )
+
+    # Path to the config file
+    config = os.path.join(
+        get_package_share_directory('penta_description'),
+        'config',
+        'general_config.yaml'
+    )
+
+    # Node definition for Penta HiWonder actuators
+    penta_hiwonder_actuators_node = Node(
+        package='penta_hiwonder_actuators',
+        executable='penta_hiwonder_actuators_node',
+        output='screen',
+        parameters=[config],
+        # Pass 'mode' argument to the node
+        arguments=[LaunchConfiguration('mode')]
+    )
+
+    # Create a launch description and add the actions
+    ld = LaunchDescription([
+        mode_arg,            # Add the mode argument
+        penta_hiwonder_actuators_node   # Add the node
+    ])
+
+    return ld
diff --git a/penta_hiwonder_actuators/package.xml b/penta_hiwonder_actuators/package.xml
new file mode 100644
index 0000000..9c6bebf
--- /dev/null
+++ b/penta_hiwonder_actuators/package.xml
@@ -0,0 +1,20 @@
+<?xml version="1.0"?>
+<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
+<package format="3">
+  <name>penta_hiwonder_actuators</name>
+  <version>0.0.0</version>
+  <description>TODO: Package description</description>
+  <maintainer email="ms@uc.pt">modi</maintainer>
+  <license>TODO: License declaration</license>
+
+  <depend>sensor_msgs</depend>
+
+  <test_depend>ament_copyright</test_depend>
+  <test_depend>ament_flake8</test_depend>
+  <test_depend>ament_pep257</test_depend>
+  <test_depend>python3-pytest</test_depend>
+
+  <export>
+    <build_type>ament_python</build_type>
+  </export>
+</package>
diff --git a/penta_hiwonder_actuators/penta_hiwonder_actuators/__init__.py b/penta_hiwonder_actuators/penta_hiwonder_actuators/__init__.py
new file mode 100644
index 0000000..e69de29
diff --git a/penta_hiwonder_actuators/penta_hiwonder_actuators/penta_hiwonder_actuators_node.py b/penta_hiwonder_actuators/penta_hiwonder_actuators/penta_hiwonder_actuators_node.py
new file mode 100644
index 0000000..7197910
--- /dev/null
+++ b/penta_hiwonder_actuators/penta_hiwonder_actuators/penta_hiwonder_actuators_node.py
@@ -0,0 +1,223 @@
+import rclpy
+from rclpy.node import Node
+from sensor_msgs.msg import JointState
+import serial
+import time
+import math
+import sys
+
+# Serial settings
+PORT = "/dev/ttyUSB0"
+BAUDRATE = 115200
+UPDATE_INTERVAL = 0.1  # seconds
+
+# --- LX-824 Communication Constants ---
+HEADER = [0x55, 0x55]
+
+class PentaHiwonderActuators(Node):
+    def __init__(self, mode):
+        super().__init__('penta_hiwonder_actuators')
+        if mode not in ['real', 'virtual']:
+            self.get_logger().error(f'Invalid mode "{mode}" specified. Defaulting to "virtual" mode.')
+            mode = 'virtual'
+
+        if mode == 'real':
+            self.real_mode_flag = True
+        else:
+            self.real_mode_flag = False
+
+        self.get_logger().info(f'Starting hiwonder actuators control in {mode} mode')
+
+        # Declare and load parameters
+        self.declare_params()
+        self.load_params()
+        self.initialize_properties()
+
+        if self.real_mode_flag:
+            # Open serial connection
+            is_successful = self.open_serial_connection()
+            if not is_successful:
+                self.get_logger().error('Failed to open serial port. Exiting...')
+                sys.exit(1)
+
+        # Publisher actuators setpoint from joint states
+        self.setpoint_publisher_ = self.create_publisher(JointState, 'actuator_setpoint_degree', 1)
+        self.joint_states_subscriber = self.create_subscription(
+                JointState,
+                "joint_states",
+                lambda msg : self.on_joint_states_callback(msg),
+                1  # Set QoS to 1
+            )
+        self.motor_update_timer = self.create_timer(UPDATE_INTERVAL, self.update_motors_callback)
+    
+    def open_serial_connection(self):
+        try:
+            self.serial = serial.Serial(PORT, BAUDRATE, timeout=1)
+            self.get_logger().info(f'Serial port {PORT} opened successfully at {BAUDRATE} baudrate.')
+            return True
+        except serial.SerialException as e:
+            self.get_logger().error(f'Error opening serial port {PORT}: {e}')
+            return False
+
+    def update_motors_callback(self):
+        if self.real_mode_flag:
+            # Actuate the motors
+            for i in range(self.joints_count):
+                position_degree = self.actuator_setpoint_degree[i]
+                actuation_range_degree = self.servo_actuation_range_degree[i]
+                ticks_span = self.servo_max_ticks[i] - self.servo_min_ticks[i]
+                position_ticks = self.servo_min_ticks[i] + (position_degree * ticks_span) / actuation_range_degree
+                servo_id = i + 1  # Servo IDs start from 1
+                self.move_one_servo(servo_id, position_ticks)
+
+    def initialize_properties(self):
+        # Initialize i2c related joint states names and servo position vector (degrees)
+        self.joints_states_names = []
+        self.q = [0.0] * self.joints_count # geometrical joint angle rads
+        self.actuator_setpoint_degree = [0.0] * self.joints_count # servo motor angle degree
+        for i in range(self.limbs_num):
+            for j in range(self.joints_per_limb[i]):
+                joint_name = f'limb{i}/joint{j}'
+                self.joints_states_names.append(joint_name)
+
+    def on_joint_states_callback(self, msg):
+        # Create dictionary of joints stats from received /joint_states message
+        joint_states_dict = {name: {'position': pos, 'velocity': vel, 'effort': eff}
+                        for name, pos, vel, eff in zip(
+                            msg.name,
+                            msg.position if msg.position else [None] * len(msg.name),
+                            msg.velocity if msg.velocity else [None] * len(msg.name),
+                            msg.effort if msg.effort else [None] * len(msg.name)
+                        )}
+        # Update received joints states and log errors
+        for i, name in enumerate(self.joints_states_names):
+            if name in joint_states_dict:
+                joint_state = joint_states_dict[name]
+                self.q[i] = joint_state['position']
+            else:
+                self.get_logger().error(f"Joint {name} not found in the current message.")
+        # Calculate actuator setpoints in degrees
+        for i in range(self.joints_count):
+            servo_setpoint = self.dir[i] * (self.q[i] * 180.0 / math.pi) + self.initial_joints_bias_degree[i]
+            max_val = self.servo_actuation_range_degree[i]
+            self.actuator_setpoint_degree[i] = self.clamp(servo_setpoint, i, 0.0, max_val)
+        # Publish actuators setpoint
+        self.publish_actuators_setpoint()
+
+    def clamp(self, value, index, min_val, max_val, margin=1.0):
+        min_safe_limit = min_val + margin
+        if value < (min_safe_limit):
+            self.get_logger().error(f'ERROR: Servo[{index}] calculated setpoint is {value} degrees, however its minimum permissible angle is {min_safe_limit}, clamping value to {min_safe_limit}!')
+            return min_safe_limit
+        max_safe_limit = max_val - margin
+        if value > (max_val - margin):
+            self.get_logger().error(f'ERROR: Servo[{index}] calculated setpoint is {value} degrees, however maximum servo angle is {max_safe_limit}, clamping value to {max_safe_limit}!')            
+            return max_safe_limit
+        return value
+
+    def send_serial_command(self, servo_id, cmd, params=None):
+        """Send a packet to LX-824 servo"""
+        if params is None:
+            params = []
+        length = len(params) + 3  # Length = params + CMD + checksum + length itself
+        packet = HEADER + [servo_id, length, cmd] + params
+        checksum = (~(sum(packet[2:])) & 0xFF)
+        packet.append(checksum)
+        self.serial.write(bytearray(packet))
+        time.sleep(0.005)
+
+    def move_one_servo(self, servo_id, position_ticks):
+        """
+        Move LX-824 servo to position (0-1000).
+        Default center ≈ 500.
+        """
+        time_ms = int(UPDATE_INTERVAL * 1000 * 0.8)  # time in ms
+        position_ticks = int(position_ticks)
+        pos_l = position_ticks & 0xFF
+        pos_h = (position_ticks >> 8) & 0xFF
+        time_l = time_ms & 0xFF
+        time_h = (time_ms >> 8) & 0xFF
+        self.send_serial_command(servo_id, 1, [pos_l, pos_h, time_l, time_h])
+
+    def publish_actuators_setpoint(self):
+        msg_setpoint = JointState()
+        msg_setpoint.header.stamp = self.get_clock().now().to_msg()
+        msg_setpoint.name = self.joints_states_names
+        msg_setpoint.position = self.actuator_setpoint_degree
+        self.setpoint_publisher_.publish(msg_setpoint)
+
+    def declare_params(self):
+        # Declare robot geometry parameters
+        self.declare_parameter('limbs_num', 5)  # Default value 5
+        self.declare_parameter('joints_per_limb', [3]*5)  # Default value 3
+        self.declare_parameter('i2c_actuators_params.actuator_angle_bias_at_joint_zero_degree', [0.0] * 15)  # Default bias
+        self.declare_parameter('i2c_actuators_params.dir', [1.0] * 15)  # Default direction (1.0 for no inversion)
+        self.declare_parameter('servo_parameters.servo_actuation_range_degree', [270.0] * 15) # angular range degree
+        self.declare_parameter('servo_parameters.servo_min_ticks', [0] * 15) # ticks
+        self.declare_parameter('servo_parameters.servo_max_ticks', [1000] * 15) # ticks
+
+    def load_params(self):
+        # Load parameters and handle errors
+        self.limbs_num = self.get_parameter('limbs_num').get_parameter_value().integer_value
+        # Helper to format array for logging
+        def format_array_to_string(x_list):
+            return '[' + ', '.join(map(str, x_list)) + ']'
+        self.joints_per_limb = self.get_parameter('joints_per_limb').get_parameter_value().integer_array_value
+        if (len(self.joints_per_limb) != self.limbs_num):
+            self.get_logger().error(f" Error, limbs_num paramters {self.limbs_num} is not equal to the size of the vector joints_per_limb {len(self.joints_per_limb)}")
+        self.get_logger().info(f'Loaded limbs_num: {self.limbs_num}, joints_per_limb: {format_array_to_string(self.joints_per_limb)}')
+        self.joints_count = sum(self.joints_per_limb)
+        self.get_logger().info(f'Total limbs joints count is: {self.joints_count}') 
+        self.initial_joints_bias_degree = self.get_parameter('i2c_actuators_params.actuator_angle_bias_at_joint_zero_degree').get_parameter_value().double_array_value
+        self.dir = self.get_parameter('i2c_actuators_params.dir').get_parameter_value().double_array_value
+        self.servo_actuation_range_degree = self.get_parameter('servo_parameters.servo_actuation_range_degree').get_parameter_value().double_array_value
+        self.servo_min_ticks = self.get_parameter('servo_parameters.servo_min_ticks').get_parameter_value().integer_array_value
+        self.servo_max_ticks = self.get_parameter('servo_parameters.servo_max_ticks').get_parameter_value().integer_array_value
+
+        if len(self.initial_joints_bias_degree) != self.joints_count:
+            self.get_logger().error('ERROR: actuator_angle_bias_at_joint_zero_degree parameter size mismatch!')
+        else:
+            self.get_logger().info(f'Initial joints bias in degree is loaded: {format_array_to_string(self.initial_joints_bias_degree)}')
+
+        if len(self.dir) != self.joints_count:
+            self.get_logger().error('ERROR: Direction array size mismatch with joints count!')
+        else:
+            self.get_logger().info(f'Direction array is loaded: {format_array_to_string(self.dir)}')
+
+        if len(self.servo_actuation_range_degree) != self.joints_count:
+            self.get_logger().error('ERROR: Servo angle range array size mismatch with joints count!')
+        else: 
+            self.get_logger().info(f'Servo joints angle range is loaded: {format_array_to_string(self.servo_actuation_range_degree)}')
+
+        if len(self.servo_min_ticks) != self.joints_count:
+            self.get_logger().error('ERROR: Servo minimum pulse width array size mismatch!')
+        else: 
+            self.get_logger().info(f'Servos minimum pulse width is loaded: {format_array_to_string(self.servo_min_ticks)}')
+
+        if len(self.servo_max_ticks) != self.joints_count:
+            self.get_logger().error('ERROR: Servo maximum pulse width array size mismatch!')
+        else:
+            self.get_logger().info(f'Servos maximum pulse width is loaded: {format_array_to_string(self.servo_max_ticks)}')
+
+
+def main(args=None):
+    rclpy.init(args=args)
+
+    # Retrieve the mode from arguments
+    mode = 'virtual'
+    if len(sys.argv) > 1:
+        mode = sys.argv[1]
+
+    # Create the node with the mode passed
+    node = PentaHiwonderActuators(mode=mode)
+
+    # Keep the node alive to receive and process messages
+    rclpy.spin(node)
+
+    # Clean up on shutdown
+    node.destroy_node()
+    rclpy.shutdown()
+
+
+if __name__ == '__main__':
+    main()
diff --git a/penta_hiwonder_actuators/resource/penta_hiwonder_actuators b/penta_hiwonder_actuators/resource/penta_hiwonder_actuators
new file mode 100644
index 0000000..e69de29
diff --git a/penta_hiwonder_actuators/setup.cfg b/penta_hiwonder_actuators/setup.cfg
new file mode 100644
index 0000000..550538b
--- /dev/null
+++ b/penta_hiwonder_actuators/setup.cfg
@@ -0,0 +1,4 @@
+[develop]
+script_dir=$base/lib/penta_hiwonder_actuators
+[install]
+install_scripts=$base/lib/penta_hiwonder_actuators
diff --git a/penta_hiwonder_actuators/setup.py b/penta_hiwonder_actuators/setup.py
new file mode 100644
index 0000000..ef7a6a4
--- /dev/null
+++ b/penta_hiwonder_actuators/setup.py
@@ -0,0 +1,28 @@
+from setuptools import find_packages, setup
+from glob import glob
+
+package_name = 'penta_hiwonder_actuators'
+
+setup(
+    name=package_name,
+    version='0.0.0',
+    packages=find_packages(exclude=['test']),
+    data_files=[
+        ('share/ament_index/resource_index/packages',
+            ['resource/' + package_name]),
+        ('share/' + package_name, ['package.xml']),
+        ('share/' + package_name + '/launch', glob('launch/*.launch.py')), 
+    ],
+    install_requires=['setuptools'],
+    zip_safe=True,
+    maintainer='modi',
+    maintainer_email='xx.xx@xx.com',
+    description='TODO: Package description',
+    license='TODO: License declaration',
+    tests_require=['pytest'],
+    entry_points={
+        'console_scripts': [
+            'penta_hiwonder_actuators_node = penta_hiwonder_actuators.penta_hiwonder_actuators_node:main',
+        ],
+    },
+)
diff --git a/penta_hiwonder_actuators/test/test_copyright.py b/penta_hiwonder_actuators/test/test_copyright.py
new file mode 100644
index 0000000..97a3919
--- /dev/null
+++ b/penta_hiwonder_actuators/test/test_copyright.py
@@ -0,0 +1,25 @@
+# Copyright 2015 Open Source Robotics Foundation, Inc.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+from ament_copyright.main import main
+import pytest
+
+
+# Remove the `skip` decorator once the source file(s) have a copyright header
+@pytest.mark.skip(reason='No copyright header has been placed in the generated source file.')
+@pytest.mark.copyright
+@pytest.mark.linter
+def test_copyright():
+    rc = main(argv=['.', 'test'])
+    assert rc == 0, 'Found errors'
diff --git a/penta_hiwonder_actuators/test/test_flake8.py b/penta_hiwonder_actuators/test/test_flake8.py
new file mode 100644
index 0000000..27ee107
--- /dev/null
+++ b/penta_hiwonder_actuators/test/test_flake8.py
@@ -0,0 +1,25 @@
+# Copyright 2017 Open Source Robotics Foundation, Inc.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+from ament_flake8.main import main_with_errors
+import pytest
+
+
+@pytest.mark.flake8
+@pytest.mark.linter
+def test_flake8():
+    rc, errors = main_with_errors(argv=[])
+    assert rc == 0, \
+        'Found %d code style errors / warnings:\n' % len(errors) + \
+        '\n'.join(errors)
diff --git a/penta_hiwonder_actuators/test/test_pep257.py b/penta_hiwonder_actuators/test/test_pep257.py
new file mode 100644
index 0000000..b234a38
--- /dev/null
+++ b/penta_hiwonder_actuators/test/test_pep257.py
@@ -0,0 +1,23 @@
+# Copyright 2015 Open Source Robotics Foundation, Inc.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+from ament_pep257.main import main
+import pytest
+
+
+@pytest.mark.linter
+@pytest.mark.pep257
+def test_pep257():
+    rc = main(argv=['.', 'test'])
+    assert rc == 0, 'Found code style errors / warnings'
diff --git a/penta_pod/launch/realhardware_bringup.launch.py b/penta_pod/launch/realhardware_bringup.launch.py
index ccfd767..18cf016 100644
--- a/penta_pod/launch/realhardware_bringup.launch.py
+++ b/penta_pod/launch/realhardware_bringup.launch.py
@@ -43,6 +43,13 @@ def generate_launch_description():
         launch_arguments={'mode': mode}.items()  # Pass the mode argument
     )
 
+    penta_hiwonder_actuators_launch = IncludeLaunchDescription(
+        PythonLaunchDescriptionSource(
+            os.path.join(FindPackageShare('penta_hiwonder_actuators').find('penta_hiwonder_actuators'), 'launch', 'penta_hiwonder_actuators.launch.py')
+        ),
+        launch_arguments={'mode': mode}.items()  # Pass the mode argument
+    )
+
         # Include the null space cmd publisher launch file
     null_space_publisher = IncludeLaunchDescription(
         PythonLaunchDescriptionSource(
@@ -63,6 +70,7 @@ def generate_launch_description():
         gait_generator_launch,
         joints_aggregator_launch,
         penta_i2c_actuators_launch,
+        penta_hiwonder_actuators_launch,
         null_space_publisher,
         twerk_action_server
     ])
diff --git a/penta_pod/package.xml b/penta_pod/package.xml
index e0b6f7f..a3ce847 100644
--- a/penta_pod/package.xml
+++ b/penta_pod/package.xml
@@ -14,7 +14,8 @@
   <exec_depend>base_twerk</exec_depend>
 
   <exec_depend>penta_i2c_actuators</exec_depend>
-  
+  <exec_depend>penta_hiwonder_actuators</exec_depend>
+
   <exec_depend>robot_state_publisher</exec_depend>
 
   <test_depend>ament_lint_auto</test_depend>

From 858dcd7fa3dea169b028b20b8821904aac2685d2 Mon Sep 17 00:00:00 2001
From: "mohammad.safeea" <mohammad.safeea@hilti.com>
Date: Sat, 25 Oct 2025 23:35:37 +0200
Subject: [PATCH 49/58] fix update rate

---
 .../penta_hiwonder_actuators_node.py          | 75 ++++++++++++-------
 1 file changed, 49 insertions(+), 26 deletions(-)

diff --git a/penta_hiwonder_actuators/penta_hiwonder_actuators/penta_hiwonder_actuators_node.py b/penta_hiwonder_actuators/penta_hiwonder_actuators/penta_hiwonder_actuators_node.py
index 7197910..19c7be6 100644
--- a/penta_hiwonder_actuators/penta_hiwonder_actuators/penta_hiwonder_actuators_node.py
+++ b/penta_hiwonder_actuators/penta_hiwonder_actuators/penta_hiwonder_actuators_node.py
@@ -1,6 +1,8 @@
 import rclpy
 from rclpy.node import Node
 from sensor_msgs.msg import JointState
+from rclpy.callback_groups import MutuallyExclusiveCallbackGroup
+from rclpy.executors import MultiThreadedExecutor
 import serial
 import time
 import math
@@ -42,14 +44,18 @@ def __init__(self, mode):
 
         # Publisher actuators setpoint from joint states
         self.setpoint_publisher_ = self.create_publisher(JointState, 'actuator_setpoint_degree', 1)
+        self.ticks_publisher_ = self.create_publisher(JointState, 'actuator_ticks', 1)
+        sub_callback_group = MutuallyExclusiveCallbackGroup()
         self.joint_states_subscriber = self.create_subscription(
                 JointState,
                 "joint_states",
                 lambda msg : self.on_joint_states_callback(msg),
-                1  # Set QoS to 1
+                1,
+                callback_group=sub_callback_group
             )
-        self.motor_update_timer = self.create_timer(UPDATE_INTERVAL, self.update_motors_callback)
-    
+        timer_callback_group = MutuallyExclusiveCallbackGroup()
+        self.motor_update_timer = self.create_timer(UPDATE_INTERVAL, self.update_motors_callback, callback_group=timer_callback_group)
+
     def open_serial_connection(self):
         try:
             self.serial = serial.Serial(PORT, BAUDRATE, timeout=1)
@@ -67,13 +73,18 @@ def update_motors_callback(self):
                 actuation_range_degree = self.servo_actuation_range_degree[i]
                 ticks_span = self.servo_max_ticks[i] - self.servo_min_ticks[i]
                 position_ticks = self.servo_min_ticks[i] + (position_degree * ticks_span) / actuation_range_degree
+                if (self.last_position_ticks[i] == position_ticks):
+                    continue  # No change in position, skip
+                self.last_position_ticks[i] = position_ticks
                 servo_id = i + 1  # Servo IDs start from 1
                 self.move_one_servo(servo_id, position_ticks)
+        self.publish_ticks_message()
 
     def initialize_properties(self):
-        # Initialize i2c related joint states names and servo position vector (degrees)
+        self.index_cache = None
         self.joints_states_names = []
         self.q = [0.0] * self.joints_count # geometrical joint angle rads
+        self.last_position_ticks = [-1] * self.joints_count # to track last sent position
         self.actuator_setpoint_degree = [0.0] * self.joints_count # servo motor angle degree
         for i in range(self.limbs_num):
             for j in range(self.joints_per_limb[i]):
@@ -81,26 +92,26 @@ def initialize_properties(self):
                 self.joints_states_names.append(joint_name)
 
     def on_joint_states_callback(self, msg):
-        # Create dictionary of joints stats from received /joint_states message
-        joint_states_dict = {name: {'position': pos, 'velocity': vel, 'effort': eff}
-                        for name, pos, vel, eff in zip(
-                            msg.name,
-                            msg.position if msg.position else [None] * len(msg.name),
-                            msg.velocity if msg.velocity else [None] * len(msg.name),
-                            msg.effort if msg.effort else [None] * len(msg.name)
-                        )}
-        # Update received joints states and log errors
-        for i, name in enumerate(self.joints_states_names):
-            if name in joint_states_dict:
-                joint_state = joint_states_dict[name]
-                self.q[i] = joint_state['position']
-            else:
-                self.get_logger().error(f"Joint {name} not found in the current message.")
-        # Calculate actuator setpoints in degrees
+        pos_list = msg.position
+        # Pre-map joint names to indices for O(1) lookup
+        if self.index_cache is None:
+            self.index_cache = []
+            names = msg.name
+            for i, name in enumerate(self.joints_states_names):
+                if name in names:
+                    index = names.index(name)
+                    self.index_cache.append(index)
+                else:
+                    self.node.get_logger().error(f"Joint {name} not found in message.")
+            return
+        # Compute actuator setpoints (vectorized-like)
+        deg_per_rad = 180.0 / math.pi
         for i in range(self.joints_count):
-            servo_setpoint = self.dir[i] * (self.q[i] * 180.0 / math.pi) + self.initial_joints_bias_degree[i]
-            max_val = self.servo_actuation_range_degree[i]
-            self.actuator_setpoint_degree[i] = self.clamp(servo_setpoint, i, 0.0, max_val)
+            self.q[i] = pos_list[self.index_cache[i]]
+            servo_setpoint = self.dir[i] * (self.q[i] * deg_per_rad) + self.initial_joints_bias_degree[i]
+            self.actuator_setpoint_degree[i] = self.clamp(
+                servo_setpoint, i, 0.0, self.servo_actuation_range_degree[i]
+            )
         # Publish actuators setpoint
         self.publish_actuators_setpoint()
 
@@ -145,6 +156,13 @@ def publish_actuators_setpoint(self):
         msg_setpoint.name = self.joints_states_names
         msg_setpoint.position = self.actuator_setpoint_degree
         self.setpoint_publisher_.publish(msg_setpoint)
+    
+    def publish_ticks_message(self):
+        msg_ticks = JointState()
+        msg_ticks.header.stamp = self.get_clock().now().to_msg()
+        msg_ticks.name = self.joints_states_names
+        msg_ticks.position = [float(tick) for tick in self.last_position_ticks]
+        self.ticks_publisher_.publish(msg_ticks)
 
     def declare_params(self):
         # Declare robot geometry parameters
@@ -212,9 +230,14 @@ def main(args=None):
     node = PentaHiwonderActuators(mode=mode)
 
     # Keep the node alive to receive and process messages
-    rclpy.spin(node)
-
-    # Clean up on shutdown
+    executor = MultiThreadedExecutor()
+    executor.add_node(node)
+
+    try:
+        node.get_logger().info('Beginning Hiwonder servo control, shut down with CTRL-C')
+        executor.spin()
+    except KeyboardInterrupt:
+        node.get_logger().info('Keyboard interrupt, shutting down.\n')
     node.destroy_node()
     rclpy.shutdown()
 

From 8bbb4836af17aa2ff8e608ca7a4f513007aed36f Mon Sep 17 00:00:00 2001
From: "mohammad.safeea" <mohammad.safeea@hilti.com>
Date: Sat, 25 Oct 2025 23:50:53 +0200
Subject: [PATCH 50/58] select motors interface from launch arg

---
 .../launch/realhardware_bringup.launch.py     | 50 ++++++++++++-------
 1 file changed, 31 insertions(+), 19 deletions(-)

diff --git a/penta_pod/launch/realhardware_bringup.launch.py b/penta_pod/launch/realhardware_bringup.launch.py
index 18cf016..61bce46 100644
--- a/penta_pod/launch/realhardware_bringup.launch.py
+++ b/penta_pod/launch/realhardware_bringup.launch.py
@@ -2,10 +2,12 @@
 from launch.actions import DeclareLaunchArgument, IncludeLaunchDescription
 from launch.launch_description_sources import PythonLaunchDescriptionSource
 from launch_ros.substitutions import FindPackageShare
-from launch.substitutions import LaunchConfiguration
+from launch.substitutions import LaunchConfiguration, EqualsSubstitution
+from launch.conditions import IfCondition, UnlessCondition
 import os
 
 def generate_launch_description():
+    ld = LaunchDescription()
     # Declare the 'mode' argument with a default value of 'real'
     mode_arg = DeclareLaunchArgument(
         'mode',
@@ -13,6 +15,15 @@ def generate_launch_description():
         description='Mode to run the actuators (real or sim)'
     )
     mode = LaunchConfiguration('mode')
+    ld.add_action(mode_arg)
+
+    motors_interface_arg = DeclareLaunchArgument(
+        'motors_interface',
+        default_value='i2c',
+        description='Type of motors to use (i2c or hiwonder)'
+    )
+    motors_interface = LaunchConfiguration('motors_interface')
+    ld.add_action(motors_interface_arg)
 
     # Include the penta_pod launch file
     penta_pod_launch = IncludeLaunchDescription(
@@ -20,6 +31,7 @@ def generate_launch_description():
             os.path.join(FindPackageShare('penta_pod').find('penta_pod'), 'launch', 'penta_pod.launch.py')
         )
     )
+    ld.add_action(penta_pod_launch)
     
     # Include the gait_generator launch file
     gait_generator_launch = IncludeLaunchDescription(
@@ -27,6 +39,7 @@ def generate_launch_description():
             os.path.join(FindPackageShare('gait_generator').find('gait_generator'), 'launch', 'gait_generator.launch.py')
         )
     )
+    ld.add_action(gait_generator_launch)
 
     # Include the joints_aggregator launch file
     joints_aggregator_launch = IncludeLaunchDescription(
@@ -34,28 +47,35 @@ def generate_launch_description():
             os.path.join(FindPackageShare('joints_aggregator').find('joints_aggregator'), 'launch', 'joints_aggregator.launch.py')
         )
     )
+    ld.add_action(joints_aggregator_launch)
 
-    # Include the penta_i2c_actuators launch file with the mode argument
-    penta_i2c_actuators_launch = IncludeLaunchDescription(
+    # Include the penta_hiwonder_actuators launch file with the mode argument (when motors_interface == hiwonder)
+    penta_hiwonder_actuators_launch = IncludeLaunchDescription(
         PythonLaunchDescriptionSource(
-            os.path.join(FindPackageShare('penta_i2c_actuators').find('penta_i2c_actuators'), 'launch', 'penta_i2c_actuators.launch.py')
+            os.path.join(FindPackageShare('penta_hiwonder_actuators').find('penta_hiwonder_actuators'), 'launch', 'penta_hiwonder_actuators.launch.py')
         ),
-        launch_arguments={'mode': mode}.items()  # Pass the mode argument
+        launch_arguments={'mode': mode}.items(),  # Pass the mode argument
+        condition=IfCondition(EqualsSubstitution(motors_interface, 'hiwonder'))
     )
+    ld.add_action(penta_hiwonder_actuators_launch)
 
-    penta_hiwonder_actuators_launch = IncludeLaunchDescription(
+    # Include the penta_i2c_actuators launch file with the mode argument (when motors_interface != hiwonder)
+    penta_i2c_actuators_launch = IncludeLaunchDescription(
         PythonLaunchDescriptionSource(
-            os.path.join(FindPackageShare('penta_hiwonder_actuators').find('penta_hiwonder_actuators'), 'launch', 'penta_hiwonder_actuators.launch.py')
+            os.path.join(FindPackageShare('penta_i2c_actuators').find('penta_i2c_actuators'), 'launch', 'penta_i2c_actuators.launch.py')
         ),
-        launch_arguments={'mode': mode}.items()  # Pass the mode argument
+        launch_arguments={'mode': mode}.items(),  # Pass the mode argument
+        condition=IfCondition(EqualsSubstitution(motors_interface, 'i2c'))
     )
+    ld.add_action(penta_i2c_actuators_launch)
 
-        # Include the null space cmd publisher launch file
+    # Include the null space cmd publisher launch file
     null_space_publisher = IncludeLaunchDescription(
         PythonLaunchDescriptionSource(
             os.path.join(FindPackageShare('base_twerk').find('base_twerk'), 'launch', 'null_pose_publisher.launch.py')
         )
     )
+    ld.add_action(null_space_publisher)
 
     # Include the twerk action server launch file
     twerk_action_server = IncludeLaunchDescription(
@@ -63,14 +83,6 @@ def generate_launch_description():
             os.path.join(FindPackageShare('base_twerk').find('base_twerk'), 'launch', 'base_twerk_action_server.launch.py')
         )
     )
+    ld.add_action(twerk_action_server)
 
-    return LaunchDescription([
-        mode_arg,
-        penta_pod_launch,
-        gait_generator_launch,
-        joints_aggregator_launch,
-        penta_i2c_actuators_launch,
-        penta_hiwonder_actuators_launch,
-        null_space_publisher,
-        twerk_action_server
-    ])
+    return ld

From a88fcc00643b27725e60900661f6ce8404bb0360 Mon Sep 17 00:00:00 2001
From: "mohammad.safeea" <mohammad.safeea@hilti.com>
Date: Sat, 25 Oct 2025 23:52:39 +0200
Subject: [PATCH 51/58] fix readme

---
 penta_hiwonder_actuators/README.md | 9 +--------
 1 file changed, 1 insertion(+), 8 deletions(-)

diff --git a/penta_hiwonder_actuators/README.md b/penta_hiwonder_actuators/README.md
index c8ac40c..551006c 100644
--- a/penta_hiwonder_actuators/README.md
+++ b/penta_hiwonder_actuators/README.md
@@ -14,16 +14,9 @@ You can build this package
  colcon build --packages-select penta_hiwonder_actuators
 ```
 
-## To test in simulation
-
-```
-ros2 launch penta_i2c_actuators penta_i2c_actuators.launch.py mode:=virtual
-```
-
-
 ## To use on real-robot:
 
 ```
-ros2 launch penta_i2c_actuators penta_i2c_actuators.launch.py mode:=real
+ros2 launch penta_pod realhardware_bringup.launch.py motors_interface:=hiwonder
 ```
 

From 3e55c6f5c117291c907e6a0676c24512a7af6f7b Mon Sep 17 00:00:00 2001
From: "Safeea, Mohammad" <mohammad.safeea@hilti.com>
Date: Tue, 4 Nov 2025 07:22:23 +0100
Subject: [PATCH 52/58] fix loading hiwonder parameters

---
 penta_description/config/general_config.yaml  | 42 +++++++++++++-
 .../penta_hiwonder_actuators_node.py          | 55 ++++++++++++-------
 2 files changed, 77 insertions(+), 20 deletions(-)

diff --git a/penta_description/config/general_config.yaml b/penta_description/config/general_config.yaml
index 81327b6..a630b91 100644
--- a/penta_description/config/general_config.yaml
+++ b/penta_description/config/general_config.yaml
@@ -68,4 +68,44 @@
         2500.0, 2500.0, 2500.0,
         2500.0, 2500.0, 2500.0,
         2500.0, 2500.0, 2500.0,
-      ]
\ No newline at end of file
+      ]
+    hiwonder:
+      serial_port: /dev/ttyUSB0
+      baudrate: 115200
+      update_interval_sec: 0.1
+      servo_actuation_range_degree: [ # servo angle range
+        270.0, 270.0, 270.0,
+        270.0, 270.0, 270.0,
+        270.0, 270.0, 270.0,
+        270.0, 270.0, 270.0,
+        270.0, 270.0, 270.0,
+      ]
+      servo_min_ticks: [ # Hiwnoder servo min ticks (zero)
+        0, 0, 0,
+        0, 0, 0,
+        0, 0, 0,
+        0, 0, 0,
+        0, 0, 0,
+      ]
+      servo_max_ticks: [ # Hiwonder, servo max ticks (motor type)
+        1000, 1000, 1000,
+        1000, 1000, 1000,
+        1000, 1000, 1000,
+        1000, 1000, 1000,
+        1000, 1000, 1000,
+      ]
+      actuator_angle_bias_at_joint_zero_degree: [ # considering the motors are at their midrange at 135 degrees when robot joint is at zero"
+        135.0, 135.0, 135.0,
+        135.0, 135.0, 135.0,
+        135.0, 135.0, 135.0,
+        135.0, 135.0, 135.0,
+        135.0, 135.0, 135.0,
+      ]
+      dir: [
+        1.0, 1.0, 1.0,
+        1.0, 1.0, 1.0,
+        1.0, 1.0, 1.0,
+        1.0, 1.0, 1.0,
+        1.0, 1.0, 1.0,
+      ]
+      actuation_time_ratio: 0.8
diff --git a/penta_hiwonder_actuators/penta_hiwonder_actuators/penta_hiwonder_actuators_node.py b/penta_hiwonder_actuators/penta_hiwonder_actuators/penta_hiwonder_actuators_node.py
index 19c7be6..e71ec40 100644
--- a/penta_hiwonder_actuators/penta_hiwonder_actuators/penta_hiwonder_actuators_node.py
+++ b/penta_hiwonder_actuators/penta_hiwonder_actuators/penta_hiwonder_actuators_node.py
@@ -8,10 +8,10 @@
 import math
 import sys
 
-# Serial settings
-PORT = "/dev/ttyUSB0"
-BAUDRATE = 115200
-UPDATE_INTERVAL = 0.1  # seconds
+# Serial default settings, overridden from config.yaml
+DEFAULT_PORT = "/dev/ttyUSB0"
+DEFAULT_BAUDRATE = 115200
+DEFAULT_UPDATE_INTERVAL = 0.1  # seconds
 
 # --- LX-824 Communication Constants ---
 HEADER = [0x55, 0x55]
@@ -54,15 +54,17 @@ def __init__(self, mode):
                 callback_group=sub_callback_group
             )
         timer_callback_group = MutuallyExclusiveCallbackGroup()
-        self.motor_update_timer = self.create_timer(UPDATE_INTERVAL, self.update_motors_callback, callback_group=timer_callback_group)
+        self.motor_update_timer = self.create_timer(self.update_interval_sec, self.update_motors_callback, callback_group=timer_callback_group)
 
     def open_serial_connection(self):
         try:
-            self.serial = serial.Serial(PORT, BAUDRATE, timeout=1)
-            self.get_logger().info(f'Serial port {PORT} opened successfully at {BAUDRATE} baudrate.')
+            port = self.serial_port
+            baudrate = self.baudrate
+            self.serial = serial.Serial(port, baudrate, timeout=1)
+            self.get_logger().info(f'Serial port {port} opened successfully at {baudrate} baudrate.')
             return True
         except serial.SerialException as e:
-            self.get_logger().error(f'Error opening serial port {PORT}: {e}')
+            self.get_logger().error(f'Error opening serial port {port}: {e}')
             return False
 
     def update_motors_callback(self):
@@ -142,7 +144,8 @@ def move_one_servo(self, servo_id, position_ticks):
         Move LX-824 servo to position (0-1000).
         Default center ≈ 500.
         """
-        time_ms = int(UPDATE_INTERVAL * 1000 * 0.8)  # time in ms
+        ratio = self.actuation_time_ratio
+        time_ms = int(self.update_interval_sec * 1000 * ratio)  # time in ms
         position_ticks = int(position_ticks)
         pos_l = position_ticks & 0xFF
         pos_h = (position_ticks >> 8) & 0xFF
@@ -168,11 +171,16 @@ def declare_params(self):
         # Declare robot geometry parameters
         self.declare_parameter('limbs_num', 5)  # Default value 5
         self.declare_parameter('joints_per_limb', [3]*5)  # Default value 3
-        self.declare_parameter('i2c_actuators_params.actuator_angle_bias_at_joint_zero_degree', [0.0] * 15)  # Default bias
-        self.declare_parameter('i2c_actuators_params.dir', [1.0] * 15)  # Default direction (1.0 for no inversion)
-        self.declare_parameter('servo_parameters.servo_actuation_range_degree', [270.0] * 15) # angular range degree
-        self.declare_parameter('servo_parameters.servo_min_ticks', [0] * 15) # ticks
-        self.declare_parameter('servo_parameters.servo_max_ticks', [1000] * 15) # ticks
+        # Hiwonder specific params
+        self.declare_parameter('hiwonder.serial_port', DEFAULT_PORT)
+        self.declare_parameter('hiwonder.baudrate', DEFAULT_BAUDRATE)
+        self.declare_parameter('hiwonder.update_interval_sec', DEFAULT_UPDATE_INTERVAL)
+        self.declare_parameter('hiwonder.actuator_angle_bias_at_joint_zero_degree', [0.0] * 15)  # Default bias
+        self.declare_parameter('hiwonder.dir', [1.0] * 15)  # Default direction (1.0 for no inversion)
+        self.declare_parameter('hiwonder.servo_actuation_range_degree', [270.0] * 15) # angular range degree
+        self.declare_parameter('hiwonder.servo_min_ticks', [0] * 15) # ticks
+        self.declare_parameter('hiwonder.servo_max_ticks', [1000] * 15) # ticks
+        self.declare_parameter('hiwonder.actuation_time_ratio', 0.8)
 
     def load_params(self):
         # Load parameters and handle errors
@@ -186,11 +194,20 @@ def format_array_to_string(x_list):
         self.get_logger().info(f'Loaded limbs_num: {self.limbs_num}, joints_per_limb: {format_array_to_string(self.joints_per_limb)}')
         self.joints_count = sum(self.joints_per_limb)
         self.get_logger().info(f'Total limbs joints count is: {self.joints_count}') 
-        self.initial_joints_bias_degree = self.get_parameter('i2c_actuators_params.actuator_angle_bias_at_joint_zero_degree').get_parameter_value().double_array_value
-        self.dir = self.get_parameter('i2c_actuators_params.dir').get_parameter_value().double_array_value
-        self.servo_actuation_range_degree = self.get_parameter('servo_parameters.servo_actuation_range_degree').get_parameter_value().double_array_value
-        self.servo_min_ticks = self.get_parameter('servo_parameters.servo_min_ticks').get_parameter_value().integer_array_value
-        self.servo_max_ticks = self.get_parameter('servo_parameters.servo_max_ticks').get_parameter_value().integer_array_value
+        # Hiwonder specific params
+        self.serial_port = self.get_parameter('hiwonder.serial_port').get_parameter_value().string_value
+        self.get_logger().info(f'Hiwonder specified serial port: {self.serial_port}')
+        self.baudreate = self.get_parameter_value('hiwonder.baudrate').get_parameter_value().integer_value
+        self.get_logger().info(f'Hiwonder serial port baudrate is: {self.baudreate}')
+        self.update_interval_sec = self.get_parameter_value('hiwonder.update_interval_sec').get_parameter_value().double_value
+        self.get_logger().info(f'Hiwonder update interval Hz: {self.update_interval_sec}')
+        self.initial_joints_bias_degree = self.get_parameter('hiwonder.actuator_angle_bias_at_joint_zero_degree').get_parameter_value().double_array_value
+        self.dir = self.get_parameter('hiwonder.dir').get_parameter_value().double_array_value
+        self.servo_actuation_range_degree = self.get_parameter('hiwonder.servo_actuation_range_degree').get_parameter_value().double_array_value
+        self.servo_min_ticks = self.get_parameter('hiwonder.servo_min_ticks').get_parameter_value().integer_array_value
+        self.servo_max_ticks = self.get_parameter('hiwonder.servo_max_ticks').get_parameter_value().integer_array_value
+        self.actuation_time_ratio = self.get_parameter('hiwonder.actuation_time_ratio').get_parameter_value().double_value
+        self.get_logger().info(f'actuation_time_ratio specified is {self.actuation_time_ratio}')
 
         if len(self.initial_joints_bias_degree) != self.joints_count:
             self.get_logger().error('ERROR: actuator_angle_bias_at_joint_zero_degree parameter size mismatch!')

From 995274cc64b3f7f868783216aa6fa638519d6fa5 Mon Sep 17 00:00:00 2001
From: "Safeea, Mohammad" <mohammad.safeea@hilti.com>
Date: Tue, 4 Nov 2025 07:41:25 +0100
Subject: [PATCH 53/58] various fixes

---
 .../penta_hiwonder_actuators_node.py          | 24 +++++++++++++++----
 1 file changed, 20 insertions(+), 4 deletions(-)

diff --git a/penta_hiwonder_actuators/penta_hiwonder_actuators/penta_hiwonder_actuators_node.py b/penta_hiwonder_actuators/penta_hiwonder_actuators/penta_hiwonder_actuators_node.py
index e71ec40..58e9df2 100644
--- a/penta_hiwonder_actuators/penta_hiwonder_actuators/penta_hiwonder_actuators_node.py
+++ b/penta_hiwonder_actuators/penta_hiwonder_actuators/penta_hiwonder_actuators_node.py
@@ -40,6 +40,7 @@ def __init__(self, mode):
             is_successful = self.open_serial_connection()
             if not is_successful:
                 self.get_logger().error('Failed to open serial port. Exiting...')
+                rclpy.shutdown() 
                 sys.exit(1)
 
         # Publisher actuators setpoint from joint states
@@ -95,6 +96,15 @@ def initialize_properties(self):
 
     def on_joint_states_callback(self, msg):
         pos_list = msg.position
+        # Sanity checks
+        if pos_list is None:
+            self.get_logger().error('Received joints setpoint positions are None, ignoring!')
+            return
+        if len(pos_list) < self.joints_count:
+            self.get_logger().error(
+                f'Received joints setpoint positions size {len(pos_list)} is less than {self.joints_count}, ignoring!'
+            )
+            return
         # Pre-map joint names to indices for O(1) lookup
         if self.index_cache is None:
             self.index_cache = []
@@ -104,7 +114,13 @@ def on_joint_states_callback(self, msg):
                     index = names.index(name)
                     self.index_cache.append(index)
                 else:
-                    self.node.get_logger().error(f"Joint {name} not found in message.")
+                    self.get_logger().error(f"Joint {name} not found in message.")
+            n = len(self.index_cache)
+            if n < self.joints_count:
+                self.get_logger().error(
+                    f'Joints index cache size {n} is less than {self.joints_count}, clearing index cache!'
+                )
+            self.index_cache = None
             return
         # Compute actuator setpoints (vectorized-like)
         deg_per_rad = 180.0 / math.pi
@@ -197,9 +213,9 @@ def format_array_to_string(x_list):
         # Hiwonder specific params
         self.serial_port = self.get_parameter('hiwonder.serial_port').get_parameter_value().string_value
         self.get_logger().info(f'Hiwonder specified serial port: {self.serial_port}')
-        self.baudreate = self.get_parameter_value('hiwonder.baudrate').get_parameter_value().integer_value
-        self.get_logger().info(f'Hiwonder serial port baudrate is: {self.baudreate}')
-        self.update_interval_sec = self.get_parameter_value('hiwonder.update_interval_sec').get_parameter_value().double_value
+        self.baudrate = self.get_parameter('hiwonder.baudrate').get_parameter_value().integer_value
+        self.get_logger().info(f'Hiwonder serial port baudrate is: {self.baudrate}')
+        self.update_interval_sec = self.get_parameter('hiwonder.update_interval_sec').get_parameter_value().double_value
         self.get_logger().info(f'Hiwonder update interval Hz: {self.update_interval_sec}')
         self.initial_joints_bias_degree = self.get_parameter('hiwonder.actuator_angle_bias_at_joint_zero_degree').get_parameter_value().double_array_value
         self.dir = self.get_parameter('hiwonder.dir').get_parameter_value().double_array_value

From f2165059491c6c2238512ee49db6e274529ff343 Mon Sep 17 00:00:00 2001
From: "Safeea, Mohammad" <mohammad.safeea@hilti.com>
Date: Tue, 4 Nov 2025 19:40:18 +0100
Subject: [PATCH 54/58] fix hiwonder driver

---
 .../launch/penta_hiwonder_actuators.launch.py |  9 ++-
 .../penta_hiwonder_actuators_node.py          | 71 +++++++++++++------
 2 files changed, 57 insertions(+), 23 deletions(-)

diff --git a/penta_hiwonder_actuators/launch/penta_hiwonder_actuators.launch.py b/penta_hiwonder_actuators/launch/penta_hiwonder_actuators.launch.py
index 95a5b83..8bf469e 100644
--- a/penta_hiwonder_actuators/launch/penta_hiwonder_actuators.launch.py
+++ b/penta_hiwonder_actuators/launch/penta_hiwonder_actuators.launch.py
@@ -29,7 +29,14 @@ def generate_launch_description():
         output='screen',
         parameters=[config],
         # Pass 'mode' argument to the node
-        arguments=[LaunchConfiguration('mode')]
+        arguments=[LaunchConfiguration('mode')],
+        remappings=[
+            # published
+            ('actuator_setpoint_degree', 'actuator_setpoint_degree'),
+            ('actuator_ticks', 'actuator_ticks'),
+            # subscribed
+            ('joint_states', 'joint_states'),
+        ]
     )
 
     # Create a launch description and add the actions
diff --git a/penta_hiwonder_actuators/penta_hiwonder_actuators/penta_hiwonder_actuators_node.py b/penta_hiwonder_actuators/penta_hiwonder_actuators/penta_hiwonder_actuators_node.py
index 58e9df2..25a6cb6 100644
--- a/penta_hiwonder_actuators/penta_hiwonder_actuators/penta_hiwonder_actuators_node.py
+++ b/penta_hiwonder_actuators/penta_hiwonder_actuators/penta_hiwonder_actuators_node.py
@@ -1,12 +1,14 @@
 import rclpy
 from rclpy.node import Node
 from sensor_msgs.msg import JointState
-from rclpy.callback_groups import MutuallyExclusiveCallbackGroup
+from rclpy.callback_groups import MutuallyExclusiveCallbackGroup, ReentrantCallbackGroup
 from rclpy.executors import MultiThreadedExecutor
 import serial
 import time
 import math
 import sys
+from dataclasses import dataclass
+from std_msgs.msg import Float32MultiArray
 
 # Serial default settings, overridden from config.yaml
 DEFAULT_PORT = "/dev/ttyUSB0"
@@ -16,6 +18,13 @@
 # --- LX-824 Communication Constants ---
 HEADER = [0x55, 0x55]
 
+@dataclass
+class TimeStamp:
+    last_serial_update: float
+    serial_update_interval: float
+    serial_update_hz: float
+
+
 class PentaHiwonderActuators(Node):
     def __init__(self, mode):
         super().__init__('penta_hiwonder_actuators')
@@ -46,6 +55,7 @@ def __init__(self, mode):
         # Publisher actuators setpoint from joint states
         self.setpoint_publisher_ = self.create_publisher(JointState, 'actuator_setpoint_degree', 1)
         self.ticks_publisher_ = self.create_publisher(JointState, 'actuator_ticks', 1)
+        self.serial_hz_publisher_ = self.create_publisher(Float32MultiArray, "actuator_update_rate_hz", 1)
         sub_callback_group = MutuallyExclusiveCallbackGroup()
         self.joint_states_subscriber = self.create_subscription(
                 JointState,
@@ -54,7 +64,7 @@ def __init__(self, mode):
                 1,
                 callback_group=sub_callback_group
             )
-        timer_callback_group = MutuallyExclusiveCallbackGroup()
+        timer_callback_group = ReentrantCallbackGroup()
         self.motor_update_timer = self.create_timer(self.update_interval_sec, self.update_motors_callback, callback_group=timer_callback_group)
 
     def open_serial_connection(self):
@@ -75,7 +85,8 @@ def update_motors_callback(self):
                 position_degree = self.actuator_setpoint_degree[i]
                 actuation_range_degree = self.servo_actuation_range_degree[i]
                 ticks_span = self.servo_max_ticks[i] - self.servo_min_ticks[i]
-                position_ticks = self.servo_min_ticks[i] + (position_degree * ticks_span) / actuation_range_degree
+                position_ticks = self.servo_min_ticks[i] + float(position_degree * ticks_span) / actuation_range_degree
+                position_ticks = int(position_ticks)
                 if (self.last_position_ticks[i] == position_ticks):
                     continue  # No change in position, skip
                 self.last_position_ticks[i] = position_ticks
@@ -86,9 +97,16 @@ def update_motors_callback(self):
     def initialize_properties(self):
         self.index_cache = None
         self.joints_states_names = []
-        self.q = [0.0] * self.joints_count # geometrical joint angle rads
         self.last_position_ticks = [-1] * self.joints_count # to track last sent position
-        self.actuator_setpoint_degree = [0.0] * self.joints_count # servo motor angle degree
+        self.actuator_setpoint_degree = [0.0] * self.joints_count
+        self.actuator_update_stamps = [TimeStamp(-1.0, -1.0, -1.0) for i in range(self.joints_count)]
+        self.motor_update_hz = [0.0 for i in range(self.joints_count)]
+        # messages
+        self.motors_update_msg_hz = Float32MultiArray()
+        self.actuator_msg_ticks = JointState()
+        self.actuator_msg_setpoint = JointState()
+        for i in range(self.joints_count):
+            self.actuator_setpoint_degree[i] = self.initial_joints_bias_degree[i]
         for i in range(self.limbs_num):
             for j in range(self.joints_per_limb[i]):
                 joint_name = f'limb{i}/joint{j}'
@@ -120,26 +138,26 @@ def on_joint_states_callback(self, msg):
                 self.get_logger().error(
                     f'Joints index cache size {n} is less than {self.joints_count}, clearing index cache!'
                 )
-            self.index_cache = None
+                self.index_cache = None
             return
         # Compute actuator setpoints (vectorized-like)
         deg_per_rad = 180.0 / math.pi
         for i in range(self.joints_count):
-            self.q[i] = pos_list[self.index_cache[i]]
-            servo_setpoint = self.dir[i] * (self.q[i] * deg_per_rad) + self.initial_joints_bias_degree[i]
+            q_rad = pos_list[self.index_cache[i]] # geometrical joint angle rads
+            setpoint_degree = self.dir[i] * (q_rad * deg_per_rad) + self.initial_joints_bias_degree[i]
             self.actuator_setpoint_degree[i] = self.clamp(
-                servo_setpoint, i, 0.0, self.servo_actuation_range_degree[i]
+                setpoint_degree, i, 0.0, self.servo_actuation_range_degree[i]
             )
         # Publish actuators setpoint
         self.publish_actuators_setpoint()
 
     def clamp(self, value, index, min_val, max_val, margin=1.0):
         min_safe_limit = min_val + margin
-        if value < (min_safe_limit):
+        if value < min_safe_limit:
             self.get_logger().error(f'ERROR: Servo[{index}] calculated setpoint is {value} degrees, however its minimum permissible angle is {min_safe_limit}, clamping value to {min_safe_limit}!')
             return min_safe_limit
         max_safe_limit = max_val - margin
-        if value > (max_val - margin):
+        if value > max_safe_limit:
             self.get_logger().error(f'ERROR: Servo[{index}] calculated setpoint is {value} degrees, however maximum servo angle is {max_safe_limit}, clamping value to {max_safe_limit}!')            
             return max_safe_limit
         return value
@@ -152,7 +170,16 @@ def send_serial_command(self, servo_id, cmd, params=None):
         packet = HEADER + [servo_id, length, cmd] + params
         checksum = (~(sum(packet[2:])) & 0xFF)
         packet.append(checksum)
+        now  = time.time()
         self.serial.write(bytearray(packet))
+        index = servo_id - 1
+        if self.actuator_update_stamps[index].last_serial_update < 0.0:
+            self.actuator_update_stamps[index].last_serial_update = now
+        else:
+            self.actuator_update_stamps[index].serial_update_interval = now - self.actuator_update_stamps[index].last_serial_update
+            self.actuator_update_stamps[index].last_serial_update = now
+            self.actuator_update_stamps[index].serial_update_hz = 1.0 / self.actuator_update_stamps[index].serial_update_interval
+            self.motor_update_hz[index] = self.actuator_update_stamps[index].serial_update_hz
         time.sleep(0.005)
 
     def move_one_servo(self, servo_id, position_ticks):
@@ -170,18 +197,18 @@ def move_one_servo(self, servo_id, position_ticks):
         self.send_serial_command(servo_id, 1, [pos_l, pos_h, time_l, time_h])
 
     def publish_actuators_setpoint(self):
-        msg_setpoint = JointState()
-        msg_setpoint.header.stamp = self.get_clock().now().to_msg()
-        msg_setpoint.name = self.joints_states_names
-        msg_setpoint.position = self.actuator_setpoint_degree
-        self.setpoint_publisher_.publish(msg_setpoint)
+        self.actuator_msg_setpoint.header.stamp = self.get_clock().now().to_msg()
+        self.actuator_msg_setpoint.name = self.joints_states_names
+        self.actuator_msg_setpoint.position = self.actuator_setpoint_degree
+        self.setpoint_publisher_.publish(self.actuator_msg_setpoint)
     
     def publish_ticks_message(self):
-        msg_ticks = JointState()
-        msg_ticks.header.stamp = self.get_clock().now().to_msg()
-        msg_ticks.name = self.joints_states_names
-        msg_ticks.position = [float(tick) for tick in self.last_position_ticks]
-        self.ticks_publisher_.publish(msg_ticks)
+        self.actuator_msg_ticks.header.stamp = self.get_clock().now().to_msg()
+        self.actuator_msg_ticks.name = self.joints_states_names
+        self.actuator_msg_ticks.position = [float(tick) for tick in self.last_position_ticks]
+        self.ticks_publisher_.publish(self.actuator_msg_ticks)
+        self.motors_update_msg_hz.data = self.motor_update_hz
+        self.serial_hz_publisher_.publish(self.motors_update_msg_hz)
 
     def declare_params(self):
         # Declare robot geometry parameters
@@ -216,7 +243,7 @@ def format_array_to_string(x_list):
         self.baudrate = self.get_parameter('hiwonder.baudrate').get_parameter_value().integer_value
         self.get_logger().info(f'Hiwonder serial port baudrate is: {self.baudrate}')
         self.update_interval_sec = self.get_parameter('hiwonder.update_interval_sec').get_parameter_value().double_value
-        self.get_logger().info(f'Hiwonder update interval Hz: {self.update_interval_sec}')
+        self.get_logger().info(f'Hiwonder update interval [sec]: {self.update_interval_sec}')
         self.initial_joints_bias_degree = self.get_parameter('hiwonder.actuator_angle_bias_at_joint_zero_degree').get_parameter_value().double_array_value
         self.dir = self.get_parameter('hiwonder.dir').get_parameter_value().double_array_value
         self.servo_actuation_range_degree = self.get_parameter('hiwonder.servo_actuation_range_degree').get_parameter_value().double_array_value

From 9d61573976bca9a0cd900257d93deef59d890fb8 Mon Sep 17 00:00:00 2001
From: "Safeea, Mohammad" <mohammad.safeea@hilti.com>
Date: Thu, 13 Nov 2025 19:24:37 +0100
Subject: [PATCH 55/58] revert majour changes and keep hiwonder vs hobby servo
 conditional launch

---
 .../launch/realhardware_bringup.launch.py     | 40 +++++++++----------
 1 file changed, 20 insertions(+), 20 deletions(-)

diff --git a/penta_pod/launch/realhardware_bringup.launch.py b/penta_pod/launch/realhardware_bringup.launch.py
index 61bce46..6171e80 100644
--- a/penta_pod/launch/realhardware_bringup.launch.py
+++ b/penta_pod/launch/realhardware_bringup.launch.py
@@ -3,11 +3,10 @@
 from launch.launch_description_sources import PythonLaunchDescriptionSource
 from launch_ros.substitutions import FindPackageShare
 from launch.substitutions import LaunchConfiguration, EqualsSubstitution
-from launch.conditions import IfCondition, UnlessCondition
+from launch.conditions import IfCondition
 import os
 
 def generate_launch_description():
-    ld = LaunchDescription()
     # Declare the 'mode' argument with a default value of 'real'
     mode_arg = DeclareLaunchArgument(
         'mode',
@@ -15,7 +14,6 @@ def generate_launch_description():
         description='Mode to run the actuators (real or sim)'
     )
     mode = LaunchConfiguration('mode')
-    ld.add_action(mode_arg)
 
     motors_interface_arg = DeclareLaunchArgument(
         'motors_interface',
@@ -23,7 +21,6 @@ def generate_launch_description():
         description='Type of motors to use (i2c or hiwonder)'
     )
     motors_interface = LaunchConfiguration('motors_interface')
-    ld.add_action(motors_interface_arg)
 
     # Include the penta_pod launch file
     penta_pod_launch = IncludeLaunchDescription(
@@ -31,7 +28,6 @@ def generate_launch_description():
             os.path.join(FindPackageShare('penta_pod').find('penta_pod'), 'launch', 'penta_pod.launch.py')
         )
     )
-    ld.add_action(penta_pod_launch)
     
     # Include the gait_generator launch file
     gait_generator_launch = IncludeLaunchDescription(
@@ -39,7 +35,6 @@ def generate_launch_description():
             os.path.join(FindPackageShare('gait_generator').find('gait_generator'), 'launch', 'gait_generator.launch.py')
         )
     )
-    ld.add_action(gait_generator_launch)
 
     # Include the joints_aggregator launch file
     joints_aggregator_launch = IncludeLaunchDescription(
@@ -47,27 +42,24 @@ def generate_launch_description():
             os.path.join(FindPackageShare('joints_aggregator').find('joints_aggregator'), 'launch', 'joints_aggregator.launch.py')
         )
     )
-    ld.add_action(joints_aggregator_launch)
 
-    # Include the penta_hiwonder_actuators launch file with the mode argument (when motors_interface == hiwonder)
-    penta_hiwonder_actuators_launch = IncludeLaunchDescription(
+    # Include the penta_i2c_actuators launch file with the mode argument (when motors_interface != hiwonder)
+    penta_i2c_actuators_launch = IncludeLaunchDescription(
         PythonLaunchDescriptionSource(
-            os.path.join(FindPackageShare('penta_hiwonder_actuators').find('penta_hiwonder_actuators'), 'launch', 'penta_hiwonder_actuators.launch.py')
+            os.path.join(FindPackageShare('penta_i2c_actuators').find('penta_i2c_actuators'), 'launch', 'penta_i2c_actuators.launch.py')
         ),
         launch_arguments={'mode': mode}.items(),  # Pass the mode argument
-        condition=IfCondition(EqualsSubstitution(motors_interface, 'hiwonder'))
+        condition=IfCondition(EqualsSubstitution(motors_interface, 'i2c'))
     )
-    ld.add_action(penta_hiwonder_actuators_launch)
 
-    # Include the penta_i2c_actuators launch file with the mode argument (when motors_interface != hiwonder)
-    penta_i2c_actuators_launch = IncludeLaunchDescription(
+    # Include the penta_hiwonder_actuators launch file with the mode argument (when motors_interface == hiwonder)
+    penta_hiwonder_actuators_launch = IncludeLaunchDescription(
         PythonLaunchDescriptionSource(
-            os.path.join(FindPackageShare('penta_i2c_actuators').find('penta_i2c_actuators'), 'launch', 'penta_i2c_actuators.launch.py')
+            os.path.join(FindPackageShare('penta_hiwonder_actuators').find('penta_hiwonder_actuators'), 'launch', 'penta_hiwonder_actuators.launch.py')
         ),
         launch_arguments={'mode': mode}.items(),  # Pass the mode argument
-        condition=IfCondition(EqualsSubstitution(motors_interface, 'i2c'))
+        condition=IfCondition(EqualsSubstitution(motors_interface, 'hiwonder'))
     )
-    ld.add_action(penta_i2c_actuators_launch)
 
     # Include the null space cmd publisher launch file
     null_space_publisher = IncludeLaunchDescription(
@@ -75,7 +67,6 @@ def generate_launch_description():
             os.path.join(FindPackageShare('base_twerk').find('base_twerk'), 'launch', 'null_pose_publisher.launch.py')
         )
     )
-    ld.add_action(null_space_publisher)
 
     # Include the twerk action server launch file
     twerk_action_server = IncludeLaunchDescription(
@@ -83,6 +74,15 @@ def generate_launch_description():
             os.path.join(FindPackageShare('base_twerk').find('base_twerk'), 'launch', 'base_twerk_action_server.launch.py')
         )
     )
-    ld.add_action(twerk_action_server)
 
-    return ld
+    return LaunchDescription([
+        mode_arg,
+        motors_interface_arg,
+        penta_pod_launch,
+        gait_generator_launch,
+        joints_aggregator_launch,
+        penta_i2c_actuators_launch,
+        penta_hiwonder_actuators_launch,
+        null_space_publisher,
+        twerk_action_server
+    ])

From 2c017fde39575c128a14690d51723cb701434cbd Mon Sep 17 00:00:00 2001
From: "Safeea, Mohammad" <mohammad.safeea@hilti.com>
Date: Thu, 13 Nov 2025 20:11:52 +0100
Subject: [PATCH 56/58] remap joints setpoints

---
 .../launch/penta_hiwonder_actuators.launch.py         | 11 ++++++++++-
 1 file changed, 10 insertions(+), 1 deletion(-)

diff --git a/penta_hiwonder_actuators/launch/penta_hiwonder_actuators.launch.py b/penta_hiwonder_actuators/launch/penta_hiwonder_actuators.launch.py
index 8bf469e..3de386d 100644
--- a/penta_hiwonder_actuators/launch/penta_hiwonder_actuators.launch.py
+++ b/penta_hiwonder_actuators/launch/penta_hiwonder_actuators.launch.py
@@ -22,6 +22,14 @@ def generate_launch_description():
         'general_config.yaml'
     )
 
+    # Setpoint topic arg
+    joints_setpoint_topic_arg = DeclareLaunchArgument(
+        'joints_setpoint_topic',
+        default_value='joint_states',
+        description='Topic for joint setpoints'
+    )
+    joints_setpoint_topic = LaunchConfiguration('joints_setpoint_topic')
+
     # Node definition for Penta HiWonder actuators
     penta_hiwonder_actuators_node = Node(
         package='penta_hiwonder_actuators',
@@ -35,13 +43,14 @@ def generate_launch_description():
             ('actuator_setpoint_degree', 'actuator_setpoint_degree'),
             ('actuator_ticks', 'actuator_ticks'),
             # subscribed
-            ('joint_states', 'joint_states'),
+            ('joint_states', joints_setpoint_topic)
         ]
     )
 
     # Create a launch description and add the actions
     ld = LaunchDescription([
         mode_arg,            # Add the mode argument
+        joints_setpoint_topic_arg,
         penta_hiwonder_actuators_node   # Add the node
     ])
 

From 53c1eebca31a328a841e93684ece7e71fbd84943 Mon Sep 17 00:00:00 2001
From: "Safeea, Mohammad" <mohammad.safeea@hilti.com>
Date: Thu, 13 Nov 2025 20:48:52 +0100
Subject: [PATCH 57/58] remapping and adding name space

---
 .../launch/penta_hiwonder_actuators.launch.py          | 10 ++++++++++
 penta_pod/launch/realhardware_bringup.launch.py        |  6 +++++-
 2 files changed, 15 insertions(+), 1 deletion(-)

diff --git a/penta_hiwonder_actuators/launch/penta_hiwonder_actuators.launch.py b/penta_hiwonder_actuators/launch/penta_hiwonder_actuators.launch.py
index 3de386d..2536552 100644
--- a/penta_hiwonder_actuators/launch/penta_hiwonder_actuators.launch.py
+++ b/penta_hiwonder_actuators/launch/penta_hiwonder_actuators.launch.py
@@ -8,6 +8,14 @@
 from launch_ros.substitutions import FindPackageShare
 
 def generate_launch_description():
+    # Declare the 'name_space' argument with a default value of ''
+    name_space_arg = DeclareLaunchArgument(
+        "name_space",
+        default_value="",
+        description="Robot name space",
+    )
+    name_space = LaunchConfiguration('name_space')
+
     # Declare the launch argument 'mode'
     mode_arg = DeclareLaunchArgument(
         'mode',
@@ -36,6 +44,7 @@ def generate_launch_description():
         executable='penta_hiwonder_actuators_node',
         output='screen',
         parameters=[config],
+        namespace=name_space,
         # Pass 'mode' argument to the node
         arguments=[LaunchConfiguration('mode')],
         remappings=[
@@ -49,6 +58,7 @@ def generate_launch_description():
 
     # Create a launch description and add the actions
     ld = LaunchDescription([
+        name_space_arg,     # Add the name_space argument
         mode_arg,            # Add the mode argument
         joints_setpoint_topic_arg,
         penta_hiwonder_actuators_node   # Add the node
diff --git a/penta_pod/launch/realhardware_bringup.launch.py b/penta_pod/launch/realhardware_bringup.launch.py
index c6a44c1..b607e98 100644
--- a/penta_pod/launch/realhardware_bringup.launch.py
+++ b/penta_pod/launch/realhardware_bringup.launch.py
@@ -74,7 +74,11 @@ def generate_launch_description():
         PythonLaunchDescriptionSource(
             os.path.join(FindPackageShare('penta_hiwonder_actuators').find('penta_hiwonder_actuators'), 'launch', 'penta_hiwonder_actuators.launch.py')
         ),
-        launch_arguments={'mode': LaunchConfiguration('mode')}.items(),  # Pass the mode argument
+        launch_arguments={
+            'mode': LaunchConfiguration('mode'),
+            'name_space': LaunchConfiguration('name_space'),
+            'joints_setpoint_topic': 'joint_setpoints',
+        }.items(),  # Pass the mode argument
         condition=IfCondition(EqualsSubstitution(motors_interface, 'hiwonder'))
     )
 

From 10785ce983a6b1b144387fbb2e2c2f4e6283fc57 Mon Sep 17 00:00:00 2001
From: "Safeea, Mohammad" <mohammad.safeea@hilti.com>
Date: Thu, 13 Nov 2025 21:00:22 +0100
Subject: [PATCH 58/58] add instruction on how to launch with Hiwonder motors

---
 README.md | 6 ++++++
 1 file changed, 6 insertions(+)

diff --git a/README.md b/README.md
index df017a1..e3623b3 100644
--- a/README.md
+++ b/README.md
@@ -64,6 +64,12 @@ Finally, you can move the robot around from external PC using keyboard
 ros2 run teleop_twist_keyboard teleop_twist_keyboard
 ```
 
+## If you are using Hiwonder motors over serial bus
+
+'''
+ros2 launch penta_pod realhardware_bringup.launch.py motors_interface:=hiwonder
+'''
+
 ## Setup as a service (automatic on boot)
 
 To bring-up the robot automatically each time you boot the robot (without having to launch the brinup manually), run the following script on the Raspberry Pi