Configure `ada_feeding` for Articulable Fork#211

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jjaime2 wants to merge 26 commits intoros2-develfrom jjaime2/articulable_fork_feeding_v2

+162-42

Commits on Sep 27, 2024

Change SSH username to nano@nano
jjaime2
committed

Commits on Oct 4, 2024

Skip Lovelace config
jjaime2
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Commits on Dec 16, 2024

Commits on Dec 18, 2024

Commits on Jan 13, 2025

Additionally exclude AF joints if is set to True
jjaime2
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Define get_tool_joints, a function that returns the list of joints associated with the selected end_effector_tool, and use it when defining the list of joint_names in the MoveIt2 object
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Add af_controller and af_servo_controller to ActivateControllerTree
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Remove assertions that assume a static set of 6 joints
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Adjust MoveAbovePlate configurations to account for extra length from Articulable Fork
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Add end_effector_tool argument to ada_feeding_launch.xml and pass it as a parameter to ada_feeding_action_servers
jjaime2
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Set end_effector_tool on global blackboard key, and zero-pad joint configurations based on tool_joints associated with end_effector_tool
jjaime2
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Modify joint_names in collision_object_manager and workspace_walls based on tool_joints defined by end_effector_tool
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Pass end_effector_tool parameter to ada_planning_scene
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Adjust in_front_of_face_wall to account for length of Articulable Fork
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Add end_effector_tool argument to moveit and feeding screen sessions
jjaime2
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Commits on Jan 15, 2025