(#95) feat(hardware): YAML hardware mapping, controllers, launches, and docs#9
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(#95) feat(hardware): YAML hardware mapping, controllers, launches, and docs#9charlesmadjeri wants to merge 3 commits intodevfrom
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Add config/hardware/active.yaml (boards, actuators with shoulder Y on torso, sensors), config store (active_meta, configs/default, backups), and schema README. Install config/controllers.yaml and launch/control.launch.py; point gazebo/rviz and xacro tests at package controllers; remove broken inmoov_actuators_config_ros2_control include from hardware_config. Add pytest hardware validation, URDF cross-check, and invalid YAML fixtures. Arm servo_min/max/default align with micro_ros firmware config_left_arm.c and config_right_arm.c; 270° servos use 0..270° hardware stroke; document calibration (offset_deg, scale, direction) and parity notes. Refs: #95
charlesmadjeri
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m-brl
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Apr 18, 2026
…idation Relocate hardware docs under docs/, add hardware_mapping and InMoov i2 notes, remove legacy hardware_config xacros. Align active.yaml and presets with lucy_config_generator (board_class, serial_id, physical_pin as INTERNAL_SERVO_N, topics). Rename hardware config test to test_hardware_yaml and tighten fixtures for the current schema. Refs: #96
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Mael-RABOT
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April 25, 2026 12:49
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… robot_description for RViz - Add config/control.launch.yaml defaults for urdf/controllers paths - control.launch: spawn controllers from controllers.yaml; fix /robot_description for RViz + ros2_control subscription - rviz.launch: include control.launch only; drop duplicate ros2_control/spawners - controllers.yaml: explicit trajectory end velocity; regen-aligned joint lists - hardware YAML: internal_servo_slots per board; doc + fixture + test updates - URDF: declare white/black materials for base/stand visuals Refs: #95
m-brl
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Issue #95 Sentience-Robotics/lucy_ros2#95
Summary
This PR makes
config/hardware/active.yamlthe hardware single source of truth, moves controller parameters andcontrol.launch.pyintothais_urdf, aligns the tree with thedescription/layout, adds validation tests, and documents the schema plus a future InMoov i2 head-actuator appendix. Legacyhardware_config/xacro is removed.Motivation
Changes
config/hardware/active.yaml,active_meta.yaml,configs/default.yaml,backups/.config/controllers.yamlandlaunch/control.launch.py(defaultcontroller_configfrom this package).rviz.launch.py/gazebo.launch.py(and related) usedescription/share paths and current URDF entrypoint.CMakeLists.txtinstallslaunch/,config/,description/,docs/(nohardware_config/).test_hardware_yaml.py(schema, pins, URDF joint cross-check via xacro), existing xacro smoke tests;BUILD_TESTINGpytest wiring updated.doc/→docs/;docs/hardware_mapping.md,docs/inmoov_i2.md, updateddocs/DEVELOPER.md,README.md,CONTRIBUTING.md; short pointer inconfig/hardware/README.md.hardware_config/*.xacro(superseded by YAML + docs).