• republish joint states from /arm/joints/current_pos to /joint_states to see the arm in RViz
• node that converts EE /arm/ik/target_twist to /arm/joints/target_vel using IK via KDL
• gamepad control node that translates /joy to /arm/ik/target_twist for intuitive arm control

Gamepad Control Scheme

• Left stick: Linear movement in Y/Z plane (relative to end-effector)
• Right stick: Pitch and yaw rotation
• Triggers: Linear movement forward/backward (X axis)
• Shoulder buttons: Roll rotation (digital input)
• A button (South): Close jaw (negative velocity)
• Y button (North): Open jaw (positive velocity)

Launch with gamepad control: ros2 launch kalman_arm2 arm2.launch.py enable_gamepad:=true

Trigger panel location mission: ros2 action send_goal /arm/move_to_panel_pose kalman_interfaces/action/MoveToPanelPose '{target_pose: {position: {x: 0.0, y: 0.0, z: 0.2}, orientation: {x: 0.0, y: 0.0, z: 0.0, w: 1.0}}}'

Notes for future

To make the arm avoid twisting joint 5, you can use the following, or make the gain selectively bigger for joint 4:

            DeclareLaunchArgument(
                "ik_joint_centering_gain",
                default_value="1.5",
                description="Nullspace gain that pulls joints toward preferred positions.",
            ),

Notes

For center knob:

ros2 action send_goal /arm/move_to_panel_pose kalman_interfaces/action/MoveToPanelPose   '{target_pose: {position: {x: -0.07517217, y: 0.07195299569680749, z: 0.09098195987914491}, orientation: {x: 0.0, y: 0.0, z: -0.383, w: 0.924}}}'

Arm Autonomy GS panel (dev)

Dev launch and rosbag fixture for the Arm Autonomy panel in kalman_gs.

Quick start

colcon build --packages-select kalman_arm2 kalman_gs --symlink-install
source install/setup.bash

ros2 launch kalman_arm2 arm_autonomy_panel_dev.launch.py

Open the ground station in a browser, add the Arm Autonomy panel.

Test bbox click → sendXY → SEND (full flow)

1. Bag + homography remap (or use dev launch above):

ros2 bag play \
  src/kalman_robot/kalman_arm2/rosbag2_2026_08_26-00_51_05 \
  --loop \
  --remap /arm/panel/pixel_to_panel:=/arm/panel/homography

2. Ground station (if not using dev launch):

ros2 launch kalman_gs gs.launch.py

3. Fake rectified detections (3 clickable buttons on 450×650 image from bag):

ros2 run kalman_arm2 fake_yolo_publisher

4. If homography missing, publish identity matrix so sendXY == imageXY:

ros2 run kalman_arm2 publish_identity_homography

5. In GS panel: click bbox center → SEND → verify with:

ros2 topic echo /arm/panel/target

Optional — fake SEND without GS (same PoseStamped format as panel):

ros2 run kalman_arm2 publish_fake_panel_target
# or periodic:
ros2 run kalman_arm2 publish_fake_panel_target --rate 1 --x 225 --y 320 --frame-id button_a

CLI one-liner:

ros2 topic pub --once /arm/panel/target geometry_msgs/msg/PoseStamped \
"{header: {frame_id: button_a}, pose: {position: {x: 225.0, y: 320.0, z: 0.0}, orientation: {w: 1.0}}}"

Panel topics (kalman_gs)

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