[WIP][gimbalrotor] suport all type of gimbalrotor #703

sugikazu75 · 2025-05-16T08:50:20Z

What is this

Support gimbalrotor package.
This branch is made from #687 and picked spinal unrelated commits from #700
And then, support gimbal control in spinal with spinal4.1

TODO

Check with all type of robots with real machine (after new spinal is arrived.)
birotor (kondoservo x 2)
trirotor (kondoservo x 3)
beale (kondoservo x 4)
beatle (dynamixel x 4)
dragonfly (dynamixel x 6)

…ndo servo task using RTOS

…reverse.

…ions.

…reertos priority for smooth servo control.

… it with MPU.

…ipheral use to DMA.

…or_stm32H7 Change the structure of kondo servo interface to support reading servo postion via DMA.

…do_extended

…fig cannot be used).

…RT2.

…ommunicate with multipe types of servo (e.g. dynamixel, kondo).

…ror when no servo is used.

… fixed initialization variables for flight controller

…otors

…oordinate following dragon's implementation.

* [Spinal][Dynamixle]Enable boardless control for dynamixel servo * [Spinal][Dynamixle] Fix the error to accomodate original best technology board for dynamixel servo XL330-M077-T * [Spinal][Dynamixle] Fix a spelling error happened in branch migration * [GA] add option --include-eol-distros for rosdep update (jsk-ros-pkg#706) * [GA] add option --include-eol-distros for rosdep update * [GA][firmware] add --include-eol-distros option * [GA] use latest key * update readme * [Navigation][Trajectory] enable to set the duration when generating a trajectory (jsk-ros-pkg#707) * [Navigation] support to receive the desired goal timestamp from the subscriber of target pose * [Navigation] support to receive a path (multiple waypoints), and also support the visulization of waypoints using markers --------- Co-authored-by: Moju Zhao <[email protected]> * [Navigation][Trajectory] enable to support multiple waypoints for generating new trajectory (jsk-ros-pkg#708) * [Navigation] support to receive the desired goal timestamp from the subscriber of target pose * [Navigation] support to receive a path (multiple waypoints), and also support the visulization of waypoints using markers --------- Co-authored-by: Moju Zhao <[email protected]> * [Navigation][Trajectory] use the current pose and velocity for the start point (jsk-ros-pkg#709) * [Navigation] support to receive the desired goal timestamp from the subscriber of target pose * [Navigation] support to receive a path (multiple waypoints), and also support the visulization of waypoints using markers * [Navigation][Trajectory] revert: use the current pose (x,y,z and yaw) instead of the last target pose foe the start point --------- Co-authored-by: Moju Zhao <[email protected]> * [estimation] identify the name space std for std::array (jsk-ros-pkg#705) * [Hydurs_XI] update the motor/propeller configuration (jsk-ros-pkg#701) Co-authored-by: Kotaro Kaneko <[email protected]> --------- Co-authored-by: fjiwrogno <[email protected]> Co-authored-by: Sugihara Kazuki <[email protected]> Co-authored-by: 趙　漠居(Zhao, Moju) <[email protected]> Co-authored-by: Moju Zhao <[email protected]> Co-authored-by: Yicheng Chen <[email protected]> Co-authored-by: Kotaro Kaneko <[email protected]>

tongtybj · 2025-07-06T13:48:05Z

Please merge the laster origin/master, which contains several patch commits about the connection between dynamixel and spinal

sugihara-16 · 2025-07-06T16:50:28Z

@tongtybj Please wait to merge this PR until we complete enough real machine experiments. Actually, we have already found some corner cases of current version. I assume the verifications will be completed in this week.

sugikazu75 · 2025-07-07T04:43:46Z

@sugihara-16 Can I format all *.h and *.cpp files in gimbalrotor package before merging?

sugihara-16 · 2025-07-07T07:51:44Z

@sugikazu75 Yes, for sure.

tongtybj · 2025-07-07T14:00:21Z

@sugikazu75

How did you format the code?

sugikazu75 · 2025-07-07T14:03:16Z

@sugikazu75

How did you format the code?

Activate pre-commit with .pre-commit-config in this repo, and formated.

tongtybj · 2025-07-07T14:04:32Z

What kind a clang format rule did you use?

sugikazu75 · 2025-07-07T14:07:26Z

In my understanding, I believe .clang-format at the root of this repo is used.

tongtybj · 2025-07-07T14:10:24Z

@Li-Jinjie

In my understanding, I believe .clang-format at the root of this repo is used.

Is https://github.com/jsk-ros-pkg/jsk_aerial_robot/blob/master/.clang-format based on ros rule?

sugikazu75 · 2025-07-07T14:25:06Z

At least, it seems to be almost same with https://github.com/PickNikRobotics/roscpp_code_format/blob/master/.clang-format

$ diff <(curl -s https://raw.githubusercontent.com/PickNikRobotics/roscpp_code_format/refs/heads/master/.clang-format) <(curl -s https://raw.githubusercontent.com/jsk-ros-pkg/jsk_aerial_robot/refs/heads/master/.clang-format)
54c54
<   AfterClass: 'true'
---
>   AfterClass: true
56,63c56,63
<   AfterEnum : 'true'
<   AfterFunction : 'true'
<   AfterNamespace : 'true'
<   AfterStruct : 'true'
<   AfterUnion : 'true'
<   BeforeCatch : 'true'
<   BeforeElse : 'true'
<   IndentBraces : 'false'
---
>   AfterEnum: true
>   AfterFunction: true
>   AfterNamespace: true
>   AfterStruct: true
>   AfterUnion: true
>   BeforeCatch: true
>   BeforeElse: true
>   IndentBraces: false

Li-Jinjie · 2025-07-07T23:05:52Z

@Li-Jinjie

In my understanding, I believe .clang-format at the root of this repo is used.

Is https://github.com/jsk-ros-pkg/jsk_aerial_robot/blob/master/.clang-format based on ros rule?

Yes, I remember at that time I tried to set the rule with ROS as much as possible.

sugikazu75 and others added 30 commits April 26, 2023 19:00

[spinal][kondo] add kondo servo class in jsk_lib

7f51d13

[spinal][kondo] changed pin assignment to use kondo servo and make ko…

481dd85

…ndo servo task using RTOS

[spinal][kondo] changed gpu flag for kondo servo using usart3

dc0df56

[Spinal][KondoServo] add converter from Kondoposition to rad and the …

bf1ec55

…reverse.

[Spinal][KondoServo] add new accessor to change the servo target_post…

2cefb3f

…ions.

[Spinal][KondoServo][WIP] supressed uart read fanction and modified f…

9f712a2

…reertos priority for smooth servo control.

[Kondo] revert servo callback

02e637c

[Spinal][Kondo] add servo state publisher.

13e92f6

[WIP][Kondo] create kondo servo task in STM32H7

c0b9b06

[Spinal][Kondo] add kondo servo task in stmh7

5502679

[Spinal][UART] Enabling DMA for UART3 RX and securing SRAM region for…

740a649

… it with MPU.

[Spinal][MPU] Assigned part of D1 SRAM region for Kondo servo's dma

91974e8

[Spinal][Kondo] change the structure of the interface from normal per…

74c77cd

…ipheral use to DMA.

Merge pull request #6 from sugihara-16/develop/spinal/jsk_lib/kondo_f…

3d39ea5

…or_stm32H7 Change the structure of kondo servo interface to support reading servo postion via DMA.

Merge branch 'master' into develop/spinal/jsk_lib/kondo

d3152e7

[Spinal][Kondo][WIP] Enable Kondo servo interface. Test successed.

b6ff588

[Spinal][Servo][WIP] Create base device driver for servos (not working).

6ba7592

[Spinal][Servo] Debug around base device driver. It works successfully.

40e233b

[Spinal][Servo][Base driver] delted unsed part.

eb318a1

Merge branch 'develop/spinal/servo_interface' into develop/spinal/kon…

bce7f66

…do_extended

[Spinal][Kondo] Move KONDO driver file to driver/ directory.

0012a08

[Spinal][Kondo] Workaround to apply base device driver to Kondo servo.

c5db5e9

[Spinal][Kondo] Make poling process more efficient (otherwise bordcon…

283a0bc

…fig cannot be used).

[Spinal][Kondo] Impliment torque enable interface.

29172e5

[Spinal][Servo] Create new fucntion to set torque in presetn position.

928c400

[Spinal][Kondo] Change board rate from 115200 to 1250000bps.

d89c2e3

[Spinal][Kondo] Workaround to implement ping function for kondo servo.

ffa7108

[Spinal][Servo] Set dynamixel's pin config as a default config for UA…

06bf6b5

…RT2.

[Spinal][Servo] Workaround to enable dynamic pin reconfiguration to c…

1b0fbdb

…ommunicate with multipe types of servo (e.g. dynamixel, kondo).

[Spinal][Servo] Set dynamixel driver as default one to avoid build er…

3499461

…ror when no servo is used.

sugikazu75 added 4 commits May 16, 2025 16:35

[gimbalrotor] add rostest for tri_omni model

9fcf943

[gimbalrotor] moved dragonfly to tri_omni model

be36bb7

[gimbalrotor] refactored underactuate mode

1e01968

[spinal] Support gimbal control in spinal. Based on jsk-ros-pkg#687 ,…

e98ea3e

… fixed initialization variables for flight controller

sugikazu75 force-pushed the PR/develop/gimbalrotor_rebase branch from 8e84cf2 to e98ea3e Compare May 16, 2025 08:57

sugikazu75 and others added 9 commits May 16, 2025 17:58

Merge branch 'master' into PR/develop/gimbalrotor_rebase

3a7d490

[gimbalrotor] remove deprecated assignment for topic name for servo m…

fce695c

…otors

[gimbalrotor] update rostest

494487f

[gimbalrotor] removed altimeter from sensor list

1c62805

[gimbalrotor][bi] update parameter for servo motors

41271c2

[gimbalrotor][bi] update control params for real machine

b2fdfc3

[Gimbalrotor][Navigation] Using a new method to set desire baselink c…

16b3a0c

…oordinate following dragon's implementation.

Merge branch 'master' into PR/develop/gimbalrotor_rebase

d566de0

sugikazu75 added 2 commits July 7, 2025 13:32

[gimbalrotor] increase timeout for rostest

c51ad93

Merge branch 'master' into PR/develop/gimbalrotor_rebase

e0b73e7

sugikazu75 added 3 commits July 7, 2025 22:09

[gimbalrotor][control] format C++ code

bf54022

[gimbalrotor][navigation] format C++ code

39b8986

[gimbalrotor][model] format C++ code

08854b5

Provide feedback

Saved searches

Use saved searches to filter your results more quickly

Uh oh!

[WIP][gimbalrotor] suport all type of gimbalrotor #703

[WIP][gimbalrotor] suport all type of gimbalrotor #703

Uh oh!

sugikazu75 commented May 16, 2025 •

edited by tongtybj

Loading

Uh oh!

tongtybj commented Jul 6, 2025

Uh oh!

sugihara-16 commented Jul 6, 2025 •

edited

Loading

Uh oh!

sugikazu75 commented Jul 7, 2025

Uh oh!

sugihara-16 commented Jul 7, 2025

Uh oh!

tongtybj commented Jul 7, 2025

Uh oh!

sugikazu75 commented Jul 7, 2025

Uh oh!

tongtybj commented Jul 7, 2025

Uh oh!

sugikazu75 commented Jul 7, 2025

Uh oh!

tongtybj commented Jul 7, 2025

Uh oh!

sugikazu75 commented Jul 7, 2025

Uh oh!

Li-Jinjie commented Jul 7, 2025

Uh oh!

Uh oh!

[WIP][gimbalrotor] suport all type of gimbalrotor #703

Are you sure you want to change the base?

[WIP][gimbalrotor] suport all type of gimbalrotor #703

Uh oh!

Conversation

sugikazu75 commented May 16, 2025 • edited by tongtybj Loading Uh oh! There was an error while loading. Please reload this page.

Uh oh!

What is this

TODO

Uh oh!

tongtybj commented Jul 6, 2025

Uh oh!

sugihara-16 commented Jul 6, 2025 • edited Loading Uh oh! There was an error while loading. Please reload this page.

Uh oh!

Uh oh!

sugikazu75 commented Jul 7, 2025

Uh oh!

sugihara-16 commented Jul 7, 2025

Uh oh!

tongtybj commented Jul 7, 2025

Uh oh!

sugikazu75 commented Jul 7, 2025

Uh oh!

tongtybj commented Jul 7, 2025

Uh oh!

sugikazu75 commented Jul 7, 2025

Uh oh!

tongtybj commented Jul 7, 2025

Uh oh!

sugikazu75 commented Jul 7, 2025

Uh oh!

Li-Jinjie commented Jul 7, 2025

Uh oh!

Uh oh!

sugikazu75 commented May 16, 2025 •

edited by tongtybj

Loading

sugihara-16 commented Jul 6, 2025 •

edited

Loading