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Ros2 node demo3#152

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kzorina wants to merge 21 commits intoagimus-project:topic/humble-devel/refactoragimus-project/agimus_controller:topic/humble-devel/refactorfrom kzorina:ros2_node_demo3kzorina/agimus_controller:ros2_node_demo3Copy head branch name to clipboard

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Commits on Jan 20, 2025

• cherry-picked kotochleb cganges

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• draft for ros node

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• Fixed some params

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• Clean up

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Commits on Jan 21, 2025

• Hardcoded for hardware experiment

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• Hardcoded for simulation experiment

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Commits on Jan 23, 2025

• Fix TODO items

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• Merge remote-tracking branch 'origin/topic/humble-devel/refactor' into ros2_node_demo3

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• fix some tests, change to OCPPose reaching

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Commits on Jan 24, 2025

• give gravity compensation as u_ref in simple_traj

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• small cleanup

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• played with q0 setting from hardware

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• fixed todo in simple traj publisher

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• delete params file

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• revert changes in tests

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• changed to filed for q0

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• trying to make CI happy

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• trying to make CI happy

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• trying to make CI happy

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