Skip to content

RELEASE.md

Latest commit

 

History

History
31 lines (23 loc) · 981 Bytes

RELEASE.md

File metadata and controls

31 lines (23 loc) · 981 Bytes

Revo-Retargeting Release

Version: 1.0.0-revo-retargeting

This release integrates MANUS teleoperation for both BrainCo Revo2 and Revo3. The workspace contains one shared MANUS bridge and model-specific retarget / driver paths.

Revo2

  • Driver: revo2_driver + revo2_description
  • Retarget: revo2_retarget
  • Real command topic: /revo2_left/right/joint_forward_vel_controller/commands
  • Feedback topic: /revo2_left/right/revo2_joint_state/joint_states
  • Control rule: pure velocity control; no command without fresh feedback.

Revo3

  • Driver/controller: ros2_stark_controller
  • Interfaces: ros2_stark_interfaces
  • Retarget: revo3_retarget
  • Command topic: /revo3/left|right/set_motor_multi
  • Model assets: revo3_description

Entry Points

python -m colcon build --symlink-install
./scripts/teleop.sh revo2|revo3 left|right|both
./scripts/start_driver.sh revo2|revo3 left|right|both
./scripts/sim_retarget.sh revo2|revo3 left|right|both