Modeless control - Inverse Kinematics#67

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PriSey wants to merge 30 commits intomainfrom

ModelessControl

Commits on Jan 25, 2026

Implement teleop modeless control with arm and drive classes

Seysha
authored and
CPRTSoftwareLead
committed
Add arm control functionality and configuration parameters for teleoperation

Seysha
authored and
CPRTSoftwareLead
committed
Implement teleoperation functionality with drive and arm control nodes, including parameter handling and launch configuration

Seysha
authored and
CPRTSoftwareLead
committed
Reverted unwanted differences from main

Seysha
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CPRTSoftwareLead
committed
Removed some comments and renamed some topics

TomasWilliston
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CPRTSoftwareLead
committed
New joystick control package

TomasWilliston
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CPRTSoftwareLead
committed
get working
CPRTSoftwareLead
committed

Commits on Jan 27, 2026

feat: add arm_ik controller for inverse kinematics handling --- WIP

Seysha
authored and
Seysha
committed

Commits on Jan 29, 2026

resolved merge conflicts

Seysha
authored and
Seysha
committed

Commits on Feb 5, 2026

Added inverse kinematics control logic to arm joystick controll

Seysha
authored and
Seysha
committed
WIP adding actions for movement to point

Seysha
authored and
Seysha
committed

Commits on Feb 9, 2026

Updating movegroup_controll action to contain movegroup logic

Seysha
authored and
Seysha
committed

Commits on Feb 12, 2026

Added action to cmake lists

Seysha
authored and
Seysha
committed
I dunno
MaybeWilli
committed
Fixed movegroup dependencies + launch

Seysha
authored and
Seysha
committed
small commit --for sharing-- added yaml file for positions

Seysha
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Seysha
committed
Finished position movement and logic (UNTESTED)

Seysha
authored and
Seysha
committed
fixed feedback loop

Seysha
authored and
Seysha
committed
Update test joint poses in positions.yaml
opom1231
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Created action client for movegroup controller action in arm control

Seysha
authored and
Seysha
committed
merge fix

Seysha
authored and
Seysha
committed
Reworked movegroup_controller to take a pose instead of pose id

Seysha
authored and
Seysha
committed
Cleaning up experimental logic in arm node
opom1231
committed
Accidentally removed lines put back
opom1231
committed
Added pose logic and updated launch confic
opom1231
committed
resolved conflicts

Seysha
authored and
Seysha
committed

Commits on Mar 11, 2026

WIP save states

Seysha
authored and
Seysha
committed
Updated arm load control
opom1231
committed
Resolved conflicts in arm node and yaml config
opom1231
committed

Commits on Mar 14, 2026

Updated arm code files

Seysha
authored and
Seysha
committed