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[Beetle][WIP] latest version for real platform #611

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[Beetle][WIP] latest version for real platform #611

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Commits on Sep 15, 2023

  1. [Beetle] create the new scritpt for multi robot joy control

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  2. [Beetle] add some test codes

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  3. Merge remote-tracking branch 'sugihara/develop/Beetle_test' into deve… 

    …lop/Beetle_test
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  4. [Beetle] modified vel nav thresh

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  5. [Spinal][AttitudeControl] add nan value checker for gimbal angles

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  6. [Spinal][Controller] modified the condition for updating torque alloc… 

    …ation matrix.
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  7. [Beetle] modified beetle nav to support yaw navigation in assembled s… 

    …tate
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  8. [Beetle][Navigation] workaround to support roll pitch rotation when a… 

    …ssembly state
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    sugihara-16 committed Sep 15, 2023
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Commits on Sep 16, 2023

  1. [Navigation] making joystick callback fuction virtual

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    sugihara-16 committed Sep 16, 2023
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  2. [Gimbalrotor][Navigation] add accessors about baselink rotation

    @sugihara-16
    sugihara-16 committed Sep 16, 2023
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  3. [Beetle][Navigation] add joy command to control roll pitch angles

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    sugihara-16 committed Sep 16, 2023
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  4. [Beetle][Navigation] modified param about roll pitch rotation and alt… 

    …itude
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    sugihara-16 committed Sep 16, 2023
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Commits on Sep 17, 2023

  1. Merge branch 'master' into develop/gimbal_rotor_rebase

    @sugihara-16
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  2. [Gimbalrotor] modified include file paths to support new system confi… 

    …guration.
    @sugihara-16
    sugihara-16 committed Sep 17, 2023
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  3. [Gimbalrotor] add 'rm' and 'sim' args in bringup

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    sugihara-16 committed Sep 17, 2023
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Commits on Sep 27, 2023

  1. [Beetle] create a new script for the disassembly motion

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  2. [Beetle] create a new script to send command to kondo servo

    @sugihara-16
    sugihara-16 committed Sep 27, 2023
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  3. [Beetle] create a new scritp for the assembly flag publication

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    sugihara-16 committed Sep 27, 2023
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Commits on Sep 28, 2023

  1. add a new auto installation of packages about docking mech

    @sugihara-16
    sugihara-16 committed Sep 28, 2023
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Commits on Oct 9, 2023

  1. [Beetle][Nav] modified discription about target pos candidate.

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  2. [Beetle][nav] fix a wrong indent

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    sugihara-16 committed Oct 9, 2023
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Commits on Oct 14, 2023

  1. [Beetle] made disassembly demo python module

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    sugihara-16 committed Oct 14, 2023
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  2. [Beetle][Navigation] workaround disassembly motion

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    sugihara-16 committed Oct 14, 2023
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  3. [Beetle] modified default robot id

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  4. Merge remote-tracking branch 'sugihara/develop/Beetle_test' into deve… 

    …lop/Beetle_test
    @sugihara-16
    sugihara-16 committed Oct 14, 2023
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Commits on Oct 15, 2023

  1. [Beetle] fix bug aroung navigation

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  2. [Beetle] make assembly demo python module

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    sugihara-16 committed Oct 15, 2023
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Commits on Oct 31, 2023

  1. [Beetle][Assemble] workaround assemble demo script

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  2. [Beetle][Disassemble] modified some detail in disassemble demo to imp… 

    …rove realmachine motion
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    sugihara-16 committed Oct 31, 2023
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  3. [Beetle] modified assembled nav script

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    sugihara-16 committed Oct 31, 2023
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  4. [Beetle] change the default control mode in simulation

    @sugihara-16
    sugihara-16 committed Oct 31, 2023
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  5. [Beetle] modified initial assemble script

    @sugihara-16
    sugihara-16 committed Oct 31, 2023
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  6. [Beetle][Navigation] workaround setting new target coordinate when as… 

    …sembled
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  7. [Beetle][Model]workaround calculate distance between module coord and… 

    … whole coord
    @sugihara-16
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  8. [Beeltle][Model] add new member variant

    @sugihara-16
    sugihara-16 committed Oct 31, 2023
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  9. [Beetle][Imu] add imu plugin to obtain filterd giro info

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    sugihara-16 committed Oct 31, 2023
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  10. [Gimbalrotor][Controller] add new accessor for target wrench

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    sugihara-16 committed Oct 31, 2023
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  11. [Beetle][Controller] add external wrench estimation function

    @sugihara-16
    sugihara-16 committed Oct 31, 2023
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  12. [Beetle][Imu][Debug] enable imu sensor plugin

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    sugihara-16 committed Oct 31, 2023
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Commits on Nov 5, 2023

  1. [Beetle][Debug] workaround CoM<->CoG conversion

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    sugihara-16 committed Nov 5, 2023
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Commits on Nov 6, 2023

  1. [Beetle][Controller] add feedforward term to compensate external wrench

    @sugihara-16
    sugihara-16 committed Nov 6, 2023
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Commits on Nov 8, 2023

  1. [Ants] change quad urdf to the ants module

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    sugihara-16 committed Nov 8, 2023
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  2. [Ants] add docking mech plugin to urdf

    @sugihara-16
    sugihara-16 committed Nov 8, 2023
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  3. [Launch][Gimbalrotor] add new launch file where two modules spawn.

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  4. [Teleop] create new teleop script for multiple robots

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    sugihara-16 committed Nov 8, 2023
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  5. [Ants][Navigation] create new assemby strategy with smach (currently … 

    …only for two modules).
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  6. [Ants] create new lanuch file for three module spawness.

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  7. [Navigation] add Baselink target mode in z axis position nav.

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  8. [Ants] modified bringup launch

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  9. [Ants] modified assembly motion strategy to support multiple modules.

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  10. [Ants] create new launch in which three modules spawn.

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  11. [Ants] workaround the control mode that calculate gimbal angles in pc.

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  12. [Ants] create a new launch file for assmbly tasks.

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  13. [Ants] add a new launch file in which four modules spawn

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  14. [Ants] modified some tolerance in assembly motion.

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  15. [Beetle] create new package for beetle.

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  16. [Gimbalrotor] remove needless files and portions for normal gimbalrotor.

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  17. [Beetle] refacotr beetle urdf using rotor arm macro.

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  18. [Beetle] modified plugins for beetle.

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  19. [Beetle] add a variable frame on the contact point.

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  20. [Beetle] modified cmakefile

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  21. [Beetle] add tf from cog to contact point

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  22. [Beetle] override navcallback to add a new control frame on the conta… 

    …ct point
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  23. [Beetle] add script and launch for the construction with four modules.

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  24. Revert "[Navigation] add Baselink target mode in z axis position nav." 

    This reverts commit 4971e41.
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  25. [Beetle] modified spawn position of launch file

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  26. [Beetle] modified navigation plugin for a axis nav

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  27. [Beelte] modified some threshold in bridge construction demo.

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  28. [Kondo] revert servo callback

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  29. [Beetle][test] modified urdf for test module

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  30. [beetle] modified motor pofile based on real machine test

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  31. [Beetle] modified control gains.

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  32. [Beetle] modified rotor direction

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  33. [Beetle][Test] modified robot's urdf for test version

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  34. [Beetle][Motor test] modified minimum pwm.

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  35. [Spinal][Kondo] add servo state publisher.

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  36. [Beetle][Gain] modified PID control gain for test airframe.

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  37. [Beetle] modified navigation yaml

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  38. [Beetle] modified PID gains for test airframe.

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  39. [Beetle] modified rotational speed of baselink.

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  40. [Beetle][Navigator] add a new subscriber for assembly flag

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  41. [Beetle] modified some details of assembly flag registration

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  42. [Beetle][Modle] add a new process to calculate the center of moving w… 

    …hen assembled.
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  43. [Beetle][Model] add accessors for the coordinate of moving point.

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  44. [Beetle][Navigation] work around navigation based on center of moving.

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  45. [Beetle][launch] add a few modifications to two module spawn launch

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  46. [Beetle][script] create new intermediate node for navigation commands

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  47. [Beetle] modified motor profile for 3wings ver.

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  48. [Beetle] fix a bag in assemble navigation script

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  49. [Beetle] add multiple joy stick launch

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    sugihara-16 committed Nov 8, 2023
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  50. [Beetle] create the new scritpt for multi robot joy control

    @sugihara-16
    sugihara-16 committed Nov 8, 2023
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  51. [Beetle] add some test codes

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  52. [Beetle] modified sensor launch to support multi streaming id of mocap

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  53. [Beetle] modified vel nav thresh

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  54. [Beetle] modified beetle nav to support yaw navigation in assembled s… 

    …tate
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  55. [Beetle][Navigation] workaround to support roll pitch rotation when a… 

    …ssembly state
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  56. [Navigation] making joystick callback fuction virtual

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  57. [Gimbalrotor][Navigation] add accessors about baselink rotation

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  58. [Beetle][Navigation] add joy command to control roll pitch angles

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  59. [Beetle][Navigation] modified param about roll pitch rotation and alt… 

    …itude
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  60. [Beetle] create a new script for the disassembly motion

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  61. [Beetle] create a new script to send command to kondo servo

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  62. [Beetle] create a new scritp for the assembly flag publication

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  63. [Beetle][Nav] modified discription about target pos candidate.

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  64. [Beetle][nav] fix a wrong indent

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  65. [Beetle] made disassembly demo python module

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  66. [Beetle][Navigation] workaround disassembly motion

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  67. [Beetle] modified default robot id

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  68. add a new auto installation of packages about docking mech

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  69. [Beetle] fix bug aroung navigation

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  70. [Beetle] make assembly demo python module

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  71. [Beetle][Assemble] workaround assemble demo script

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  72. [Beetle][Disassemble] modified some detail in disassemble demo to imp… 

    …rove realmachine motion
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  73. [Beetle] modified assembled nav script

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  74. [Beetle] change the default control mode in simulation

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  75. [Beetle] modified initial assemble script

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  76. [Beetle][Navigation] workaround setting new target coordinate when as… 

    …sembled
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  77. [Beetle][Model]workaround calculate distance between module coord and… 

    … whole coord
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  78. [Beeltle][Model] add new member variant

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  79. [Beetle][Imu] add imu plugin to obtain filterd giro info

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  80. [Gimbalrotor][Controller] add new accessor for target wrench

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  81. [Beetle][Controller] add external wrench estimation function

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  82. [Beetle][Imu][Debug] enable imu sensor plugin

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  83. [Beetle][Debug] workaround CoM<->CoG conversion

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  84. [Beetle][Controller] add feedforward term to compensate external wrench

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Commits on Nov 10, 2023

  1. [Beetle][Navigation] modified err compensation during switching

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  2. [Beetle] modified takeoff time thresh

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  3. [Beetle] workaround implimenting PD+wrench_compensation control mode

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  4. Merge branch 'develop/Beetle_rebased' into develop/Beetle_test

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Commits on Nov 11, 2023

  1. [Beetle][script] add swith script and launch

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  2. [Beetle][Model] change the way to determine leader module

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Commits on Nov 13, 2023

  1. [Beetle][scritp] debug about disassembly motion with three or more mo… 

    …dules
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  2. [Beetle] renamed some python modules

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    sugihara-16 committed Nov 13, 2023
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  3. [Beetle] debug around external wrench compensation.

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Commits on Nov 14, 2023

  1. [trirotor] add trirotor package

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  2. [trirotor] add configs

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  3. [trirotor] add urdf models

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  4. [trirotor] add launchers

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  5. [trirotor][control] add plugin of conrtol and model

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  6. [trirotor] add dae of baselink of trirotor

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  7. [trirotor] add plugins directory to catkin_package_share_destination

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  8. [trirotor][navigation] add navigation of trirotor

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  9. [Trirotor][model] override model update function in order to consider… 

    … baselink rotation.
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  10. [Trirotor][Controller] add coordination conversion of target wrench.

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  11. [Trirotor][Controller] add another roll-pitch gain for simulation.

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  12. [Trirotor][Cotroller] add thrust mask calculation function

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  13. [Trirotor][Controller] modified gains for simulation

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  14. [Gimbalrotor][new] add new package for gimbalrotor robot based on tri… 

    …rotor package
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  15. [Gimbalrotor][Controller&Model] Workaound new controling and modeling… 

    … method using local coordinates of each thrust.
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  16. [Gimbalrotor][URDF]add urdf model of ant module

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  17. [Gimbalrotor][URDF]modified gimbalrotor urdf

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  18. [Gimbalrotor][Model] delete unused fuction for mask calculation.

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  19. [Gimbalrotor][Control]add the new mode in which gimbale angles are ca… 

    …lculated in spinal
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  20. [Spinal][Controller]add the new mode in which target gimbal angles ar… 

    …e calculated in spinal
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  21. [Gimbalrotor][URDF]modified upper limit angle of gimbal joint for KRS… 

    …-3304R2
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  22. Merge remote-tracking branch 'kazuki/develop/spinal/jsk_lib/kondo' in… 

    …to develop/trirotor_se
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  23. [Spinal][KondoServo] add converter from Kondoposition to rad and the … 

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

    …ions.
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  25. [Spinal][Controller]share the pointer of kondo servo instance to cont… 

    …rol gimbal angles.
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  26. [Spinal][KondoServo][WIP] supressed uart read fanction and modified f… 

    …reertos priority for smooth servo control.
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  27. [Spinal][Flightcontroller]Add a new portion to send target gimbal ang… 

    …les.
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  28. [Gimbalrotor] add joint state publisher for updating robot model.

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  29. [Gimbalrotor] modified estimation mode

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  30. [Gimblarotor][Controller] fix bag aboud undifined parameter.

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  31. [Gimbalrotor] modified battery threshold.

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  32. [Gimbalrotor] Refactor for urdf and config files in order to support … 

    …quad and tri rotor.
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  33. [Gimbalrotor] refactor for the file system of gimbal rotor package.

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  34. [Gimbalrotor] modified pid gains for quadrotor simulation.

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  35. [Gimbalrotor] remove unused portion in gimbalrotor robot model

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  36. [Spinal][AttitudeControl] add nan value checker for gimbal angles

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  37. [Spinal][Controller] modified the condition for updating torque alloc… 

    …ation matrix.
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  38. [Gimbalrotor] modified include file paths to support new system confi… 

    …guration.
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  39. [Gimbalrotor] add 'rm' and 'sim' args in bringup

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  40. [Beetle] add new feature that change CoM conversion when the assemble… 

    …d num is changed.
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  41. [Beetle] add new parameter in disassembly motion

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Commits on Nov 15, 2023

  1. [Beetle] add two directional reconfig motion

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  2. [Beetle] create assembly and disassembly demo script

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    sugihara-16 committed Nov 15, 2023
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Commits on Nov 18, 2023

  1. [Beetle] change robot name in multi egent world

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    sugihara-16 committed Nov 18, 2023
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  2. [Beetle] add pd and wrench comp mode for yaw

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    sugihara-16 committed Nov 18, 2023
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Commits on Nov 22, 2023

  1. [Gimbalrotor] fixed joint_state bag

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    sugihara-16 committed Nov 22, 2023
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Commits on Nov 23, 2023

  1. [Beetle] inactivate wrench comp in z axis

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    sugihara-16 committed Nov 23, 2023
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Commits on Nov 24, 2023

  1. [Sensor][Imu] add low-pass filter to base imu plugin

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  2. [Dragon][Imu]remove dupricated functions in imu plugin

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    sugihara-16 committed Nov 24, 2023
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  3. [Controller] making featues around external wrench estimation common one

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    sugihara-16 committed Nov 24, 2023
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  4. [Hydrus][controller] workaround activating wrench estimation in hydrus

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    sugihara-16 committed Nov 24, 2023
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Commits on Nov 25, 2023

  1. [Beetle] add scripts for analysis

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  2. Merge branch 'develop/Beetle_test' into develop/Beetle

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Commits on Nov 26, 2023

  1. [Beetle] modified some parameters for switching

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    sugihara-16 committed Nov 26, 2023
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  2. Merge remote-tracking branch 'sugihara/develop/gimbal_rotor' into dev… 

    …elop/gimbal_rotor
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  3. Merge branch 'develop/gimbal_rotor' into develop/Beetle

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  4. Merge branch 'PR/controller/external_wrench' into develop/Beetle

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    sugihara-16 committed Nov 26, 2023
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  5. Merge remote-tracking branch 'origin/master' into develop/gimbal_rotor

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  6. [Gimablrotor] add an attribute of control loop duration to initialize… 

    … basenavigator
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  7. Merge branch 'develop/gimbal_rotor' into develop/Beetle

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    sugihara-16 committed Nov 26, 2023
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  8. [WIP][Beetle][Nav] modified joy and nav callback to support current m… 

    …aster branch
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    sugihara-16 committed Nov 26, 2023
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  9. [Beetle][controller] workaround to use common external wrench estimation

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    sugihara-16 committed Nov 26, 2023
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Commits on Nov 27, 2023

  1. [Beetle] workaroung activating wrench estimation in beetle

    @sugihara-16
    sugihara-16 committed Nov 27, 2023
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  2. [Beetle] modified launch file name for gazebo simulation

    @sugihara-16
    sugihara-16 committed Nov 27, 2023
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  3. [Beetle] make new message

    @sugihara-16
    sugihara-16 committed Nov 27, 2023
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  4. [Beetle] add subscriber and publisher for estimated external wrench f… 

    …usion.
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    sugihara-16 committed Nov 27, 2023
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Commits on Nov 28, 2023

  1. [Beetle][Controller] workaround to calculate interactional wrench

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    sugihara-16 committed Nov 28, 2023
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  2. [Beetle][model] modified sort direction

    @sugihara-16
    sugihara-16 committed Nov 28, 2023
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Commits on Nov 29, 2023

  1. [Beetle] workaround to use new wrench comp strategy in assembled state.

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    sugihara-16 committed Nov 29, 2023
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  2. [Beetle] decrease cutoff freq for lpf of imu.

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    sugihara-16 committed Nov 29, 2023
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Commits on Dec 2, 2023

  1. [Beetle] add new internal wrench compensation method: i_term reconfig… 

    … method
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    sugihara-16 committed Dec 2, 2023
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Commits on Dec 4, 2023

  1. [Beetle] start wrench compensation from takeoff state

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    sugihara-16 committed Dec 4, 2023
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  2. [Beetle] dubug for wrench comp

    @sugihara-16
    sugihara-16 committed Dec 4, 2023
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Commits on Dec 5, 2023

  1. [Beetle][Navigation] supporting new nav mode

    @sugihara-16
    sugihara-16 committed Dec 5, 2023
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  2. [Beetle] remove unused include

    Juniciro Sugiahra committed Dec 5, 2023
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  3. [Beetle] modified urdf as to value

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    sugihara-16 committed Dec 5, 2023
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Commits on Dec 6, 2023

  1. [Beetle] modified the method to update wrench compensation

    @sugihara-16
    sugihara-16 committed Dec 6, 2023
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  2. [WIP][Beetle] add wrench comp for torque elements

    @sugihara-16
    sugihara-16 committed Dec 6, 2023
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Commits on Dec 8, 2023

  1. [Beetle] workaround to switch control mode smoothly

    @sugihara-16
    sugihara-16 committed Dec 8, 2023
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Commits on Dec 9, 2023

  1. [Gimbalrotor] add new control mode where i terms of roll and pitch ar… 

    …e calculated in pc.
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    sugihara-16 committed Dec 9, 2023
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  2. [Gimbalrotor] set another rpy gain if i term is calculated in pc

    @sugihara-16
    sugihara-16 committed Dec 9, 2023
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  3. [Beetle] add i comp reset when disassembled

    @sugihara-16
    sugihara-16 committed Dec 9, 2023
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  4. [Spinal][Gimbalcontrol] modified gimbal control publish rate

    @sugihara-16
    sugihara-16 committed Dec 9, 2023
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Commits on Dec 10, 2023

  1. [Gimbalrotor] trivial debug in controller

    @sugihara-16
    sugihara-16 committed Dec 10, 2023
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  2. [Beetle] modified pid parameters

    @sugihara-16
    sugihara-16 committed Dec 10, 2023
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Commits on Dec 13, 2023

  1. [Beetle] modified the method to calc ff wrench to pid control.

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    sugihara-16 committed Dec 13, 2023
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Commits on Dec 14, 2023

  1. [Beetle] modified the method to change wrench comp gain

    @sugihara-16
    sugihara-16 committed Dec 14, 2023
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Commits on Dec 15, 2023

  1. [Beetle] add a publisher for wrench compensation pid and override res… 

    …et function.
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    sugihara-16 committed Dec 15, 2023
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  2. [Gimablrotor] modified condition around gain sending.

    @sugihara-16
    sugihara-16 committed Dec 15, 2023
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  3. [Beetle][Controller] debug around the method to determine proper gain… 

    … for wrench compensation.
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    sugihara-16 committed Dec 15, 2023
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  4. [Beetle] debug around assembly motion script

    @sugihara-16
    sugihara-16 committed Dec 15, 2023
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  5. [Beetle] debug around switch cmd

    @sugihara-16
    sugihara-16 committed Dec 15, 2023
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  6. [Beetle] modified gains for wrench comp

    @sugihara-16
    sugihara-16 committed Dec 15, 2023
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Commits on Dec 19, 2023

  1. [Beetle][Model] add accessor to leader id.

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    sugihara-16 committed Dec 19, 2023
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  2. [Beetle][controller] add feedfoward internal wrench term.

    @sugihara-16
    sugihara-16 committed Dec 19, 2023
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Commits on Dec 20, 2023

  1. [Beetle][urdf] add battery model

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    sugihara-16 committed Dec 20, 2023
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Commits on Dec 22, 2023

  1. [Beetle][urdf] modified inertia info of base link.

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    sugihara-16 committed Dec 22, 2023
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Commits on Dec 24, 2023

  1. [Navigation] add indicator of remaining battery.

    @sugihara-16
    sugihara-16 committed Dec 24, 2023
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  2. [Beetle] add navi callback for assembled state

    @sugihara-16
    sugihara-16 committed Dec 24, 2023
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Commits on Dec 26, 2023

  1. [Beetle][test] create script for lemniscate trajectory tracking.

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    sugihara-16 committed Dec 26, 2023
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  2. [Beetle][launch] workaround change spawn positions

    @sugihara-16
    sugihara-16 committed Dec 26, 2023
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Commits on Jan 9, 2024

  1. [Beetle] modified some parameter for real machine

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    sugihara-16 committed Jan 9, 2024
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  2. Merge remote-tracking branch 'sugihara/develop/Beetle' into develop/B… 

    …eetle
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    sugihara-16 committed Jan 9, 2024
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Commits on Feb 6, 2024

  1. [Beetle] add new topic that can change rotation of all modules

    @sugihara-16
    sugihara-16 committed Feb 6, 2024
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Commits on Feb 7, 2024

  1. [Beetle] modified some detail of rotational nav by joystick

    @sugihara-16
    sugihara-16 committed Feb 7, 2024
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  2. Merge remote-tracking branch 'sugihara/develop/Beetle' into develop/B… 

    …eetle
    @sugihara-16
    sugihara-16 committed Feb 7, 2024
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Commits on Feb 19, 2024

  1. [Beelte][simulation] modified wrench comp i gain in simulation

    @sugihara-16
    sugihara-16 committed Feb 19, 2024
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  2. [Beetle] modified servo angle when the mechanism is opened

    @sugihara-16
    sugihara-16 committed Feb 19, 2024
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  3. [Beetle][Reconfig] modifeid some parameters of reconfig motion

    @sugihara-16
    sugihara-16 committed Feb 19, 2024
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  4. [Beetle][recofig] modified reconfig demo script in order to support t… 

    …hree modules
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    sugihara-16 committed Feb 19, 2024
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  5. [Beetle] change some detail of switch script

    @sugihara-16
    sugihara-16 committed Feb 19, 2024
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  6. [Beetle][simu] add new launch where eight modules spawn

    @sugihara-16
    sugihara-16 committed Feb 19, 2024
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  7. [Beetle][test] add servo test script

    @sugihara-16
    sugihara-16 committed Feb 19, 2024
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Commits on Apr 14, 2024

  1. Merge branch 'master' into develop/Beetle

    @sugihara-16
    sugihara-16 committed Apr 14, 2024
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  2. [Beetle] workaround catching up to latest master

    @sugihara-16
    sugihara-16 committed Apr 14, 2024
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  3. [Beetle][Nav] fixed bug in landing motion

    @sugihara-16
    sugihara-16 committed Apr 14, 2024
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