Skip to content
New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

Jump to bottom

RSDK-8460 - Modularize the xarm driver and remove it from RDK #4578

Open
wants to merge 14 commits into
base: main
Choose a base branch
from
Open

RSDK-8460 - Modularize the xarm driver and remove it from RDK #4578

Show file tree
Hide file tree
Changes from 2 commits
Commits
Show all changes
14 commits
Select commit Hold shift + click to select a range
0a226e3
remove xArm from RDK
nfranczak Nov 21, 2024
601c88b
appease linter
nfranczak Nov 21, 2024
d13d58a
remove xArm from being registered within RDK
nfranczak Nov 21, 2024
1be0842
Merge branch 'main' of github.com:viamrobotics/rdk into RSDK-8460
nfranczak Nov 21, 2024
7031d82
switch paths for building xArm6&7 from kinematics files
nfranczak Nov 21, 2024
3909483
missed updating the import part in two places -- updated now
nfranczak Nov 21, 2024
e6be575
remove module dependency + move kinematics file into fake folder so w…
nfranczak Nov 22, 2024
0ec7b52
change min value from 118 to 117.5 for the xarm7 kinematics file
nfranczak Nov 22, 2024
f0a2e33
update go.mod and go.sum
nfranczak Nov 22, 2024
ddf9032
update go.mod and go.sum2
nfranczak Nov 22, 2024
ee5b172
remove space
nfranczak Nov 22, 2024
a72151a
update absolute path to not have errors in it
nfranczak Nov 22, 2024
a0ca9f4
appease linter
nfranczak Nov 22, 2024
99ebeaa
the name is 'foo'
nfranczak Nov 22, 2024
File filter

Filter by extension

Filter by extension
Conversations
Failed to load comments.
Loading
Jump to
Jump to file
Failed to load files.
Loading
Diff view
Diff view
2 changes: 1 addition & 1 deletion components/arm/fake/fake.go
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -8,11 +8,11 @@ import (
"sync"

"github.com/pkg/errors"
xarm "github.com/viam-modules/viam-ufactory-xarm/arm"
Copy link
Member

Choose a reason for hiding this comment

The reason will be displayed to describe this comment to others. Learn more.

We should not be importing modules into RDK. This makes our import graph extremely messy.

We can replicate the imported function locally and use the test files you added.


"go.viam.com/rdk/components/arm"
"go.viam.com/rdk/components/arm/eva"
ur "go.viam.com/rdk/components/arm/universalrobots"
"go.viam.com/rdk/components/arm/xarm"
"go.viam.com/rdk/logging"
"go.viam.com/rdk/motionplan"
"go.viam.com/rdk/referenceframe"
Expand Down
3 changes: 2 additions & 1 deletion components/arm/register/register.go
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -3,9 +3,10 @@ package register

import (
// register arms.
_ "github.com/viam-modules/viam-ufactory-xarm/arm"
Copy link
Member

Choose a reason for hiding this comment

The reason will be displayed to describe this comment to others. Learn more.

This rather defeats the purpose of putting this in a module, no?


_ "go.viam.com/rdk/components/arm/eva"
_ "go.viam.com/rdk/components/arm/fake"
_ "go.viam.com/rdk/components/arm/universalrobots"
_ "go.viam.com/rdk/components/arm/wrapper"
_ "go.viam.com/rdk/components/arm/xarm"
)
217 changes: 0 additions & 217 deletions components/arm/xarm/lite6_kinematics.json
View file
Open in desktop

This file was deleted.

Loading
Loading