Refactor Servo Architecture Part 1 #18
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Jayden442
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Jayden442
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Thanks Jayden. I will take a look through tomorrow. We will hold off on merging it in until part 1 and 2 are both ready to be merged. |
ConnorNeed
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Nov 25, 2025
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ConnorNeed
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Looks good. Just need to wait for the porting of all the control to use the new system before merging
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Looks like you have to rebase off main and resolve the conflicts. Once you do there will be a pylint config .pylintrc. pylint srcIt will run some basic checks to ensure the changes are compliant with our codebase pylint rules. They are not super strict (yet) but they help catch some stuff. |
* port from old repo * Removed logging for debugging * drive mode Minor fixes Arm dummy * Update servo to pub/sub for all modes Linting and minor comments slash in topic name Small pi servo changes Remove unnecessary import Remove more imports formatting * Pi constant and readded toggle lights Formatting Radians in config arm servo name servo service revert * Nav launch (#21) * fix: navigation launch * chore: update readme * chore: add convenience script to source ros env * chore: add zed folder to volumes for dev container * chore: format * chore: add gridmap filter dependancy * chore: add host zed SDK to setup package * Microservice video streaming (#19) * feat: template for distributed streaming setup * style: spelling * Navigation tuning (#23) * feat: split nav2 and mapping launches * feat: reduce layers on traversability_postprocessing * chore: format * chore: clean up parameters passed in * Aruco changes (#24) * chore: move plugins to video_streaming package * chore: seperate gstreamer plugins * docs: file extension * chore: allow camera work in linux dev container * feat: optimize aruco detection * feat: ros2 image source gst-plugin * updating limits with encoder movement (#29) Co-authored-by: Jetson <softlead@curover.ca> * Optimize Decay Computation in radialInflateSerial (#16) * Optimize Decay Computation in radialInflateSerial * fix: get preserve cost inflation working * style: autoformat --------- Co-authored-by: ConnorN <connor.needham2015@gmail.com> * Offset issues (#33) * feat: use talon sensor offset support * tune: fix sensor offsets and limits * style: format * fix: current ticks issue * Arm launch clean up (#31) * chore: manual clean up * chore: ai cleanup * chore: remove redundant files * fix: remove duplicate rsp * fix: move ros2_control_node to individual node * Add open loop drive option to talon drive controller (#28) * feat: open loop drive option * Format code and test --------- Co-authored-by: Jetson <softlead@curover.ca> * Pylint (#32) * fix: all import errors * fix: unused varibles * chore: add pylint * fix: code review comments * Feature/srt component (#36) * Fix build: Reduce parallel workers to 1 to save memory * feat: add SRT node for video streaming with GStreamer integration * fix: restore dynamic parallel worker count in build script * Style: auto-format launch file with black * Fix: syntax error and formatting in srt_node.cpp * Refactor: improve code formatting and organization in SrtNode class * Refactor: update CMakeLists.txt and package.xml for improved dependency management; modify SRT node parameters for testing * Refactor: improve formatting and organization in SrtNode class; streamline try-catch blocks and enhance pipeline description logging * Refactor: update SRT node parameters for improved configuration; change default srt_uri and add test_mode parameter * Refactor: improve formatting and organization in SrtNode class; streamline parameter declarations and subscription bindings * improve code formatting * fix: pipeline fixes during testing --------- Co-authored-by: Ju <bangmar@iclod.com> Co-authored-by: ConnorN <connor.needham2015@gmail.com> * port from old repo Removed logging for debugging Linting and minor comments slash in topic name Small pi servo changes Remove unnecessary import Remove more imports formatting Removed max_num_servo formatting * Fixed build errors and warnings Fixed typing on science Fix drive mode servo client * Allow multiple servos Fixed config Check all ports for all servo types linting * Removed duplicates in pi servo * Lint compliance --------- Co-authored-by: Connor Needham <129120300+ConnorNeed@users.noreply.github.com> Co-authored-by: ConnorN <connor.needham2015@gmail.com> Co-authored-by: Darren Wallace <63486143+TheWalrus368@users.noreply.github.com> Co-authored-by: Jetson <softlead@curover.ca> Co-authored-by: Jack Wong <120768324+jackcwong2007@users.noreply.github.com> Co-authored-by: Erik <43829793+ErikCald@users.noreply.github.com> Co-authored-by: 潤辰| Runchen Zhao <runchenzhao@cmail.carleton.ca> Co-authored-by: Ju <bangmar@iclod.com>
ConnorNeed
approved these changes
Jan 22, 2026
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This is the first part of the task, which is the actual refactoring of the servo package. The second part is to update Teleop control to be compatible with this.
Tested by having the client send 2 unique positions.
Tested by running usb servo and client from the same launch file but it is commented out right now just as it was before.
Part 2 (The joystick part) has been merged.
Task: ROVER-411