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Custom CAN driver, upgraded MI motor support, thread shutdown fix, and support for BRITER encoders #9

Merged
merged 21 commits into from
Aug 12, 2024
Merged

Custom CAN driver, upgraded MI motor support, thread shutdown fix, and support for BRITER encoders #9

merged 21 commits into from
Aug 12, 2024

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nice-mee
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This PR adds the following features/fixes:

  • Implement a custom CAN driver that supports multiple CAN filters, sockcanpp is now removed from project dependencies.
  • Upgraded MI motor support, now meta_hardware supports all the operating modes of MI motors.
  • Thread shutdown fixes to DJI and MI motor drivers. The current implementation is based on std::jthread and std::stop_token from C++ 20.
  • Add support to BRITER encoders, this encoder can be combined with any motors without absolute zero to achieve absolute zero.

nice-mee added 20 commits August 10, 2024 05:30
@nice-mee
Implement custom CanDriver and overall improvement to `DjiMotorNetw…
388428f 
…ork`
@nice-mee
Add missing header file
07cd0bf
@nice-mee
Fix simulation controller config.
3237f5e
@nice-mee
Simplify CMakeLists.txt of gimbal_controller with ament_cmake_auto
a0c2327
@nice-mee
Merge branch 'can_driver' of github.com:Meta-Team/Meta-ROS into can_d…
ecdcc41 
…river
@nice-mee
Removal of sockcanpp module dependency. Now all the motor networks …
d0292a1 
…use custom can driver.
@nice-mee
Add support for many difference operating modes of MI motors
1d7eecd
@nice-mee
Speedup MI motors command writing
62a5f1a
@nice-mee
Fix unfinished functions
d98baf7
@nice-mee
Modify the logic flow so that it can shutdown properly.
767e760
@nice-mee
Use of std::stop_token to signal stop of threads
b28de8d
@nice-mee
Addition of position and velocity mode for MI motors, and overall imp…
8510a81 
…rovement to CAN exceptions
@nice-mee
Add new exceptions to DJI motors
82b2c87
@nice-mee
Implementation of BRITER encoder
052897e
@nice-mee
Add clamp to MI motors
e65a0f4
@nice-mee
Delete all visibility control header in gimbal_controller
a10434d
@nice-mee
Move meta_chassis_controller and metav_description to `decomposit…
e48b6bb 
…ion`
@nice-mee
Move all robot configs to meta_bringup
5efd3e8
@nice-mee
Rename gimbal_controller to meta_gimbal_controller
0cb9ae7
@nice-mee
Merge branch 'master' of github.com:Meta-Team/Meta-ROS into can_driver
5faf296
@nice-mee
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Since sockcanpp is no longer a part of project dependency, it's safe to assume that CMake > 2.23 is no longer required. Removing CMake upgrade from workflow

@nice-mee nice-mee merged commit dc8e1b6 into master Aug 12, 2024
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