Даниил Грабарь
ee047618cd
feat: update version and dependencies in setup.py; add privilege management and process handling modules
...
- Updated version from 2026.05.31 to 2026.06.11 in setup.py
- Replaced 'textual' with 'rich' in install_requires
- Added privilege.py for managing sudo privileges with a keep-alive mechanism
- Introduced process.py for handling subprocesses with enhanced control and output streaming
- Created ui.py for unified console interactions and user prompts
2026-06-11 12:21:02 +10:00
Даниил Грабарь
e76a07c8f6
feat: update .gitignore to include CLAUDE.md and retain backup files
2026-06-07 15:36:19 +03:00
Даниил Грабарь
36fa33b032
Refactor tool management and update robot configuration
...
- Updated iiwa7.srdf to streamline group and end effector definitions, removing unnecessary joint specifications.
- Enhanced setting.yaml to include active tool configuration.
- Removed deprecated gripper URDF and Xacro files, consolidating tool definitions into tools.yaml.
- Introduced tool_manager.py for dynamic tool management, allowing for easy updates to active tools and collision settings.
- Created tool_active.xacro to reflect the currently active tool in the robot's URDF.
- Added comprehensive collision management for the new tool configurations.
2026-06-03 14:03:44 +10:00
Даниил Грабарь
9f9fb24dc3
Delete realsense packages
2026-06-03 13:31:00 +10:00
Даниил Грабарь
91eefe1eea
feat: refactor launch files to modularize node creation and improve simulation support
2026-06-03 13:24:08 +10:00
Даниил Грабарь
e9e3163ce6
feat: add support for named positions in robot API, including new endpoints and metadata
2026-06-03 13:19:13 +10:00
Даниил Грабарь
75d2c499b2
Update API
2026-05-28 15:20:57 +10:00
Даниил Грабарь
02e0c25847
Append fastMCP model
2026-05-27 17:13:42 +03:00
Даниил Грабарь
4916648f03
Update xacro pos
2026-05-27 08:26:48 +03:00
Даниил Грабарь
f365cd491f
Update fields
2026-05-26 16:02:08 +03:00
Даниил Грабарь
d3912a5a12
feat: enhance API with new trajectory and sequence handling, add TF support and improve endpoint definitions
2026-05-26 20:36:10 +10:00
Даниил Грабарь
30d7785d8c
refactor: remove deprecated robot API and implement dynamic routing for endpoints
2026-05-26 17:23:46 +10:00
Даниил Грабарь
ec5fb3ccdb
refactor: remove commented section headers from motion_sequence_runner.py
2026-05-26 16:10:25 +10:00
Даниил Грабарь
a4d318fceb
Refactor motion sequence handling: remove old test script, update setup, and implement new runner with configuration support
...
- Deleted obsolete `test_motion_sequence.py` file.
- Updated `setup.py` to remove references to the old test script and motion configuration file.
- Added `motion_sequence_config.json` to define home position and waypoints for the robot.
- Introduced `motion_sequence_runner.py` to execute motion sequences based on the new configuration format, supporting both joint and pose movements.
2026-05-26 16:09:41 +10:00
Даниил Грабарь
a84cfde96c
feat: implement ROS node and API for robot control with FastAPI
2026-05-26 08:39:45 +03:00
Даниил Грабарь
2f079df087
Update logic work system
2026-05-25 07:38:07 +03:00
Даниил Грабарь
fff46f0ade
feat: add rosdep.yaml handling and iiwa_web package to Dockerfiles
2026-05-25 13:16:33 +10:00
Даниил Грабарь
e4b8daf754
feat: update package versions to 2026.5.31 and add dependencies for iiwa_web
2026-05-25 12:46:27 +10:00
Даниил Грабарь
b560fcf229
refactor: remove command_mode from configuration and related files
2026-05-25 12:30:59 +10:00
Даниил Грабарь
e60402c8f2
feat: add English documentation for Lightweight Cobot
2026-05-24 10:35:35 +03:00
Даниил Грабарь
cbd05effd2
feat: update package versions and descriptions for all modules; add web interface package
2026-05-24 10:18:04 +03:00
Даниил Грабарь
0b0ef36428
fix: update navigation labels to Russian for consistency
2026-05-23 12:57:06 +03:00
Даниил Грабарь
50d248eb0c
feat: update documentation structure and add new content for Lightweight Cobot
2026-05-23 12:51:56 +03:00
Даниил Грабарь
490f8823a5
feat: refactor MultiPickScreen to use SelectionList for multi-choice selection
2026-05-23 12:14:07 +03:00
Даниил Грабарь
3da290a4f3
feat: implement MultiPickScreen for multi-selection in the TUI
2026-05-23 11:07:01 +03:00
Даниил Грабарь
9f59868cec
fix: remove sudo keepalive mechanism from installation scripts
2026-05-23 10:50:54 +03:00
Даниил Грабарь
ddb6015bfd
feat: add clean and rebuild commands for managing ROS2 packages
2026-05-23 09:53:26 +03:00
Даниил Грабарь
19d50d2c09
fix: enhance scripts to keep sudo credentials alive during installation
2026-05-23 09:43:26 +03:00
Даниил Грабарь
cc97e2a854
fix: enhance Webots removal and installation scripts to manage WEBOTS_HOME environment variable
2026-05-23 08:21:58 +03:00
Даниил Грабарь
0c677176b0
fix: add COLCON_IGNORE file to exclude specific directories from colcon build
2026-05-23 04:21:43 +03:00
Даниил Грабарь
14a5e6d90a
fix: explicitly set Python executables for CMake to use system Python
2026-05-23 04:13:04 +03:00
Даниил Грабарь
fc6c08aff3
fix: prioritize system directories in PATH for ament_cmake to use system Python
2026-05-22 19:27:55 +03:00
Даниил Грабарь
c57e94dcc4
fix: remove symlink option from colcon build command in _task_build function
2026-05-22 19:23:35 +03:00
Даниил Грабарь
b9c7f14a23
fix: update colcon build command to include base paths for improved build process
2026-05-22 19:21:14 +03:00
Даниил Грабарь
0dda077e7f
fix: remove symlink option from colcon build command in task_build function
2026-05-22 19:17:35 +03:00
Даниил Грабарь
a7dace79ad
fix: update progress reporting and improve script clarity in setup scripts
2026-05-22 19:09:32 +03:00
Даниил Грабарь
e3ef99d1f0
feat: prompt user to build project workspace after installation
2026-05-22 19:06:10 +03:00
Даниил Грабарь
2a70cdbe75
feat: add installation scripts for ROS2 Jazzy Desktop and ros-base with progress reporting
2026-05-22 19:00:16 +03:00
Даниил Грабарь
7cadd1d673
fix: enhance subprocess management and progress reporting in setup and update commands
2026-05-22 18:30:34 +03:00
Даниил Грабарь
463a1e1423
fix: add docstrings to improve code documentation and clarity
2026-05-22 18:16:59 +03:00
Даниил Грабарь
a7590cc93f
Implement feature X to enhance user experience and optimize performance
2026-05-22 17:53:09 +03:00
Даниил Грабарь
c595365c2b
fix: improve apt progress reporting and enhance status handling
2026-05-22 17:24:50 +03:00
Даниил Грабарь
58da9c0814
fix: enhance apt command progress reporting and install dev tools
2026-05-22 17:20:57 +03:00
Даниил Грабарь
a1b9a21352
fix: update apt timeouts for improved reliability and adjust add-apt-repository command for no-update
2026-05-22 16:18:34 +03:00
Даниил Грабарь
074896b2dd
fix: remove timeout settings from add-apt-repository command for simplicity
2026-05-22 16:02:34 +03:00
Даниил Грабарь
dc31589ae0
fix: replace quiet command execution with logged output for better visibility
2026-05-22 16:01:10 +03:00
Даниил Грабарь
523961d432
fix: enhance apt commands with timeout settings and cleanup previous ROS2 repository configuration
2026-05-22 15:52:58 +03:00
Даниил Грабарь
1af22bf2ac
fix: refactor ROS2 apt repository setup and improve key import process
2026-05-22 15:49:52 +10:00
Даниил Грабарь
a0be3bcd56
fix: remove unnecessary "./" prefix for local apt package installation
2026-05-22 14:50:28 +10:00
Даниил Грабарь
2bdfb139bf
Bug fix
2026-05-22 14:27:52 +10:00
Даниил Грабарь
e154a41d33
fix: remove leftover ROS2 apt repository files before configuration
2026-05-22 13:56:34 +10:00
Даниил Грабарь
6360023e6f
fix: update ROS2 apt repository setup to use ros2-apt-source package and improve installation process
2026-05-22 13:31:30 +10:00
Даниил Грабарь
4202421d5b
fix: add process tracking and cancellation support to command execution
2026-05-22 13:23:38 +10:00
Даниил Грабарь
14337aa4e7
fix: add HTTP/HTTPS timeouts for apt commands to prevent hangs and improve reliability
2026-05-22 13:12:23 +10:00
Даниил Грабарь
e24f97b12d
fix: prompt for sudo password upfront to ensure smooth installation process
2026-05-22 11:56:05 +10:00
Даниил Грабарь
17b1425c78
fix: cache sudo token to prevent silent hangs during installation prompts
2026-05-22 11:43:20 +10:00
Даниил Грабарь
8b71870d2b
Merge branch 'dev' of gitverse.ru:daniel-robotics/lightweight-cobot into dev
2026-05-22 11:27:11 +10:00
Даниил Грабарь
5f2d45f63c
обновлен процесс загрузки
2026-05-22 11:26:34 +10:00
Даниил Грабарь
bdb5fb2418
fix: update robot IP address in configuration and improve process termination handling in run script
2026-05-21 07:56:11 +03:00
Даниил Грабарь
fd576dc27a
fix: ensure rosdep update does not fail during Docker build
2026-05-21 13:58:54 +10:00
Даниил Грабарь
6be6032838
feat: update robot setup to use ruamel.yaml for preserving YAML comments and formatting
...
feat: enhance run command with Docker volume for Webots asset caching and GPU detection
feat: improve setup command to sequentially run sub-commands for documentation, environment, and robot parameters
fix: update update command to provide clearer logging during git operations and installation
refactor: enhance TUI components with better threading and logging for long-running tasks
chore: improve install script with better error handling, logging, and interactive setup wizard
2026-05-21 12:46:54 +10:00
Даниил Грабарь
e18ff53532
Add run command for launching robot controller and Webots simulator
2026-05-21 11:41:54 +10:00
Даниил Грабарь
2903b8825d
Enhance progress reporting in setup and deletion processes across multiple scripts
2026-05-21 11:05:08 +10:00
Даниил Грабарь
11f24172cb
Implement retry logic for git clone in installer script to enhance robustness
2026-05-20 18:28:00 +03:00
Даниил Грабарь
615a955767
Refactor subprocess handling in setup scripts for improved error reporting and output management
2026-05-20 18:24:09 +03:00
Даниил Грабарь
6c10d072de
Optimize git clone command by adding depth option for faster repository cloning
2026-05-20 18:14:39 +03:00
Даниил Грабарь
9ab76160f0
Enhance ROS2 repository setup by improving key handling and updating installation commands
2026-05-20 18:09:04 +03:00
Даниил Грабарь
c8b121958d
Improve Python version check in installer script to handle errors gracefully
2026-05-20 18:03:59 +03:00
Даниил Грабарь
e153de0bb7
Fix input redirection for quiet command execution and Python version check in installer script
2026-05-20 17:59:37 +03:00
Даниил Грабарь
a50ff4e2e6
Add delete and update commands for project management
2026-05-20 17:52:49 +03:00
Даниил Грабарь
5f16825cf7
Refactor Docker and Local Setup Commands
...
- Enhanced the docker_setup.py to streamline image building and pulling processes with improved logging and error handling.
- Introduced a new LogScreen for better user feedback during long-running tasks.
- Updated local_setup.py to utilize logging for installation steps and improved error handling.
- Refactored robot_setup.py to simplify configuration saving and user interaction.
- Added a new LogScreen class in tui.py for consistent logging across different setup processes.
- Modified install.sh to adjust the installation directory for better organization.
2026-05-20 17:41:11 +03:00
Даниил Грабарь
bbfec17876
Add local setup command and enhance docker setup wizard
2026-05-20 17:05:01 +03:00
Даниил Грабарь
86e6e801e9
Add robot setup command and configuration management for cobot-setting.yaml
2026-05-20 14:43:20 +10:00
Даниил Грабарь
dedf3e3467
Implement documentation setup and Docker configuration for LWC project
2026-05-20 13:49:21 +10:00
Даниил Грабарь
a06470c0c9
Enhance install script with improved logging and error handling
2026-05-19 18:22:37 +03:00
Даниил Грабарь
5315767638
Refactor install script for improved logging and setup process
2026-05-19 17:15:01 +03:00
Даниил Грабарь
d1c250e6b9
Add initial implementation of cobot CLI and setup scripts
2026-05-19 17:04:27 +03:00
Даниил Грабарь
6228501581
Refactor Dockerfile and run script for improved GPU handling and environment variable management
2026-05-19 16:26:05 +03:00
Даниил Грабарь
836b03a7ee
Update Dockerfiles and configuration for improved package management and controller settings
2026-05-19 12:48:12 +10:00
Даниил Грабарь
24bc5f3aba
Update Dockerfiles to support dynamic package installation and build type configuration
2026-05-19 01:51:51 +03:00
Даниил Грабарь
06c50616b4
Add Dockerfile and run script for Webots integration; update package dependencies
2026-05-18 17:53:02 +03:00
Даниил Грабарь
8d27c01b92
Добавлена сборка контроллера
2026-05-18 16:59:16 +03:00
Даниил Грабарь
9bff33608e
Добавлены Docker образы
2026-05-18 18:11:05 +10:00
Даниил Грабарь
c5d8ecc4c5
Bug fix
2026-05-18 16:59:24 +10:00
Даниил Грабарь
aa000c0b02
Fix joint1 axis orientation in joints.xacro for correct kinematic behavior
2026-05-18 07:14:53 +03:00
Даниил Грабарь
04b5c99ec8
Update iiwa_controller and MoveIt configuration: Adjust joint velocity filter and parameters for improved performance
2026-05-18 11:33:35 +10:00
Даниил Грабарь
ace4d02b8a
Refactor iiwa_controller_v2: Remove obsolete files and update URDF parameters
...
- Deleted `system_interface_type_values.hpp`, `package.xml`, `fri_client.cpp`, and `system_interface.cpp` as part of the cleanup process.
- Updated `iiwa7.urdf.xacro` to remove deprecated parameters and adjust command interface settings.
- Modified joint definitions in `joints.xacro` to include new friction and soft limit parameters.
- Enhanced `macros.xacro` to support additional joint properties for friction and safety control.
- Adjusted mass properties in `params.xacro` to reflect accurate values for the robot's components.
2026-05-18 11:10:11 +10:00
Даниил Грабарь
efaec9b442
Update iiwa_controller configuration for improved joint control and velocity clamping
2026-05-18 03:34:59 +03:00
Даниил Грабарь
86cf252a87
Enhance joint limits and add acceleration scaling to MoveToNamedPose service
2026-05-15 07:20:26 +03:00
Даниил Грабарь
99215c0b20
Add iiwa_controller_v2: Implement hardware interface for KUKA iiwa7 via FRI
...
- Introduced iiwa_hardware_interface_plugin.xml to define the hardware interface.
- Created command_guard.hpp to enforce joint limits for position and torque commands.
- Developed fri_client.hpp and fri_client.cpp to manage FRI communication and state snapshots.
- Implemented system_interface.hpp and system_interface.cpp for lifecycle management and command handling.
- Added system_interface_type_values.hpp for extended state interface names.
- Defined package.xml for ROS2 integration with necessary dependencies.
2026-05-15 13:10:00 +10:00
Даниил Грабарь
d6b4641d9b
Update FRI configuration parameters for improved joint control and synchronization
2026-05-14 08:01:58 +03:00
Даниил Грабарь
7eefdd66d5
Refactor controller configuration and update planning parameters for improved performance
2026-05-14 07:29:47 +03:00
Даниил Грабарь
c3d1de7b01
Add joint_position_tau parameter for smoother joint control and update related configurations
2026-05-14 11:40:04 +10:00
Даниил Грабарь
302eb3d8d7
fix: Update FRI cycle time and adjust related parameters for improved synchronization
2026-05-13 07:39:18 +03:00
Даниил Грабарь
1f37a07770
Add fri_cycle_ms parameter to configuration and update related components
2026-05-13 04:31:19 +03:00
Даниил Грабарь
68198ed2f8
Add documentation build scripts and initial MkDocs setup
2026-05-08 16:43:22 +10:00
Даниил Грабарь
6744f1963f
Переделан контроллер
2026-05-08 08:49:10 +03:00
Даниил Грабарь
2dfe967ca1
fix: Update .gitignore to include .claude and clean up friUdpConnection.cpp code
2026-05-08 04:17:06 +03:00
Даниил Грабарь
225ae50f10
feat: Enhance iiwa_description and iiwa_sunrise functionality
...
- Added a new link "tcp" and a fixed joint "patron_tcp" in patron.xacro for better tool control.
- Updated ServerFriRos2.java to improve command mode handling and user configuration steps, including clearer logging and better control mode selection.
- Removed the deprecated iiwa_ros2.java file to streamline the codebase.
- Enhanced test_motion_sequence.py to allow dynamic topic recording based on user input, with improved logging for bag file management.
2026-05-07 17:47:47 +03:00
Даниил Грабарь
3c8d157cbe
Исправлены баги
2026-05-06 07:39:22 +03:00
Даниил Грабарь