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wants to merge 76 commits into from
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Implement ROS 2 interfaces #2

wants to merge 76 commits into from

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calvertdw
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calvertdw and others added 30 commits May 25, 2025 14:14
@calvertdw
Setup Docker image and add training scripts.
ae3e507
@calvertdw
Increase tolerance to 0.1.
777f0cc
@calvertdw
Combine build and run.
72030a4
@calvertdw
Start on IHMC README.
2358b2d
@calvertdw
Document IHMC workflow and start of ROS 2 stuff.
20c8e56
@EAOZONE
simple publisher Ros2Robot beginnings
fc4f866
@EAOZONE
Smple publisher with needed functions
faf5c28
@EAOZONE
adds ros2 to make_robot area
ab6f2df
@EAOZONE
Simple ros2 robot runs and prints stuff
96fc33b
@EAOZONE
Beginning of ROS2 talking
368a1ae
@EAOZONE
Test for Ros2Robot, passes 4/4
b514ba7
@EAOZONE
Implements capture_observation and test for it
19bc857
@EAOZONE
Little clean up
1942eb4
@EAOZONE
Tests for the actions bein array of 14 and observations including two…
f449dc5 
… images of size 3, 640, 480
@EAOZONE
Adds comments to understand Ros2Robot
ac8c6dd
@EAOZONE
Adds loop to register subscribers and publishers from configs.py
6b33457
@EAOZONE
Adds some TODOS
fe40d41
@EAOZONE
Swapped subs and pubs to correct subs and pubs
5749575
@EAOZONE
Adds a few more subs and pubs
0996e51
@EAOZONE
small change
c52bf79
@EAOZONE
adds a TODO
6a8d610
@EAOZONE
adds and removes different comments
376b32b
@EAOZONE
sets up command to make connect have to wait till ROS2 says yes
64d7fd7
@EAOZONE
Passes all 4 tests
3d4fd93
@EAOZONE
Setting Policy works
a8ed5d9
@EAOZONE
Sets up command topic(does nothing right now)
d200e2c
@EAOZONE
Uses lerobots pretrained diffusion policy but does work :)
8d5a2a7
@EAOZONE
Beginnings of ROS diffusion
6909ad2
@EAOZONE
switches logger to info
ae59539
@EAOZONE
start working on real diff policy
2591a42
EAOZONE and others added 28 commits June 23, 2025 16:13
@EAOZONE
Fixes ihmc code to work with new lerobot commits
1cc1168
@EAOZONE
Merge remote-tracking branch 'upstream/main'
e0e2c46 
Merges fork
@EAOZONE
Merge branch 'main' into feature/Ros2Implement
2b43876
@EAOZONE
Fixes for running ROS2 with new lerobot code
0e50512
@calvertdw
Switch to topic compatible with autonomy process.
d1ea5f2
@EAOZONE
Fixes for __init__ imports
e0c0fcb
Fix for not connecting with Windows
e7bdcea
@EAOZONE
Puts arguments in to allow to run on pycharm on different computers w…
0823426 
…ith different ros domains.
@EAOZONE
Remove /lerobot/connect and a little clean up
d59209c
@EAOZONE
Little change to shut down properly without errors
dee5782
@EAOZONE
clean up and name changes
a58c19c
@EAOZONE
Adds lerobot/status publish to python code
d75ab48
@EAOZONE
Implements smaller numbers to be able to run diffusion on
646ea30
@EAOZONE
Loads diffusion immeaditely
6faca8d
Steps to setup ROS2 with lerobot
9d242fc
@EAOZONE
Merge remote-tracking branch 'upstream/main'
38b2f4d
@EAOZONE
Merge branch 'main' into feature/Ros2Implement
a5e764f
@EAOZONE
Merge remote-tracking branch 'upstream/main'
4575d1a
@EAOZONE
Merge branch 'main' into feature/Ros2Implement
b94e888
@EAOZONE
Sets up Start string for pythonStatus
c91720e
@EAOZONE
Needs some type of rest or else sends actions way to fast
00c26d1
@EAOZONE
Makes code nicer
0b5373c
@EAOZONE
Switches to same frequency unitree uses in there lerobot code
553f926
@EAOZONE
adds argument for trained path
d809953
@EAOZONE
Good amount of steps, look ahead and inference
e147181
@EAOZONE
Clean up to fix
39748ad
@EAOZONE
fix for variance error
9983e0e
@EAOZONE
Simple fix to not exceed number of ep_idx
43f38ed
@calvertdw calvertdw closed this Aug 22, 2025
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@calvertdw @EAOZONE