merge main changes into control augmented

.gitignore

@@ -9,6 +9,9 @@
 **/install/
 **/log/
 
+# Large files
+**/large_files/
+
 # External packages
 **/mocap_msgs/
 **/mocap4r2/

docs/collecting_data.md

@@ -6,6 +6,12 @@ Essentially, all you need to run is contained in:
 ```bash
 cd main/
 source install/setup.bash
-ros2 run executor data_collection_node
+ros2 run executor data_collection_node 
 ```
+
+ROS arguments can be used to change the parameters. For example, to run control trajectory data collection with a control inputs file named "control_inputs_controlled_1.csv" and saving the observations to "observations_controlled_1.csv" you would run:
+```
+ros2 run executor data_collection_node --ros-args -p data_subtype:="controlled" -p results_name:="observations_controlled_1" -p input_num:=1
+```
+
 The data will be saved in the `main/data/trajectories/` directory.

docs/gripper.md

@@ -0,0 +1,13 @@
+# Gripper
+The servo-driven gripper is connected to the Raspberry Pi 4 (4GB RAM), which has Ubuntu 20.04 installed.
+Enabling the gripper is optional. 
+
+## Usage
+To start the gripper, open a terminal and run:
+```bash
+cd gripper/
+source install/setup.bash
+ros2 run servo_control servo_control_node
+```
+
+

docs/motors.md

@@ -0,0 +1,18 @@
+# Motors
+The 6 Dynamixel XM540-W150-R motors are connected via a U2D2 to the Linux machine. 
+
+## Usage
+REQUIRED: To set USB port latency to 1 ms instead of default 16 ms, run:
+```bash
+echo 1 | sudo tee /sys/bus/usb-serial/devices/ttyUSB0/latency_timer
+```
+
+In the same terminal, to start the motors, run:
+```bash
+cd motors/
+source install/setup.bash
+ros2 launch trunk_motors launch_motors.py
+```
+
+
+

mkdocs.yml

@@ -31,7 +31,8 @@ nav:
     - ROS2 Workspaces: ros2_workspaces.md
   - Usage:
     - Motion Capture: mocap.md
-    - Motors and Gripper: motors_gripper.md
+    - Motors: motors.md
+    - Gripper: gripper.md
     - Collecting data: collecting_data.md
     - Video Streaming: video_streaming.md
     - Telemetry Viewer: telemetry_viewer.md

stack/.vscode/settings.json

@@ -0,0 +1,3 @@
+{
+    "cmake.sourceDirectory": "/home/trunk/Documents/trunk-stack/stack/gripper/src/interfaces"
+}