ROS2 drive and arm motor bridges #65
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…2 into ajr/motor-controllers
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Other than any further architecture changes, seems good to go after tested on arm test rig (simulated joint C + joint B) |
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Summary
Closes #32 #57
What features did you add, bugs did you fix, etc?
Refactored drive and arm code to remove arm translator and implement the motors groups as individual hardware bridges instead of loaded from esw.yaml
Did you add documentation to the wiki?
No
How was this code tested?
Tested on the moteus test rig with fdcanusb, tested with the jetson and drive dev board. Still need to test brushed code
Did you test this in sim?
No
Did you test this on the rover?
No
Did you add unit tests?
No, tested on hardware