andino

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Add andino IMU

4

# 🎉 New feature Adds IMU support. Realtes to #50 ## Summary Requires #215 into firmware. This is only configures broadcasting from ROS control. More details: * Adds simulation *...

ivanpauno

Provide a dockerized environment for ARM64

3

## Desired behavior Reduce the time to deploy an Andino bot in a fully functional system. ## Alternatives considered Probably there are many out there, like from a bash script,...

agalbachicar

Adds instructions to build a docker image in an x86/x64 architecture for arm64/v8

1

# 🎉 New feature Part of #200 ## Summary Povides a dockerized container to run in arm64/v8. This is by no means a definite solution, given that it is presented...

agalbachicar

## Environment * OS Version: RPI 4, Ubuntu Mate 22.04.3, humble * Source or binary build: source build, [2e552b5](https://github.com/Ekumen-OS/andino/commit/2e552b51e3333d6e2c6186defe8b8a15ad370f9d) ## Description * Expected behavior: after running the installation guide in...

agalbachicar

Velocity not limited for the diff drive controller

2

## Description The [`andino_controllers.yaml`](https://github.com/Ekumen-OS/andino/blob/humble/andino_control/config/andino_controllers.yaml) configuration file specify no limits in the linear/angular velocity. According the [motor's description](https://www.sparkfun.com/products/16413) its max velocity is 90 RPM, given the wheel radius this would translate...

IDavGal

Move hardware interface plugin configuration to a config file.

2

Depends on #135 ### Context The configuration of the andino hardware interface is harcoded in the urdf https://github.com/Ekumen-OS/andino/blob/70a9ad6d65089c1b999859ed6a5113fb0d23bdd0/andino_description/urdf/include/andino_control.urdf.xacro#L6-L15 ### Proposal - Request a configuration yaml for the ros control configuration

francocipollone

Improve firmware code base

2

## Desired behavior Firmware code base shall be improved so as to ease its maintenance, decouple logic and drivers code (to ease the process of using a different dev board...

jballoffet

[andino_base] Creates test for verifying ros hardware interface implementation

1

### Summary Adding test coverage makes the code more robust. We could mock the microcontroller in order to provide some tests that guarantee that the hardware interface is working correctly....

francocipollone

Adds tests for verifying andino_description urdf parsing.

1

## Desired behavior Adds some smoke tests in `andino_description` package for processing the xacro files and checking that there is no error when doing so.

francocipollone

## Desired behavior Unit tests shall be added to ensure regressions don't take place as the code evolves.

jballoffet