dig-controllers

name	dig-controllers
description	Start Moleworks dig controllers (dig_3d, dig_newton, dig_ee, etc.) in a split tmux window: one pane runs the controller launch, the other pane runs lifecycle helpers and shows the `ros2 action send_goal` command. Use when the base stack is already running and you want to add or restart only a dig controller.

Dig Controllers

Quick Start

If the user wants base stack plus dig in one step, prefer the robot-startup skill with --dig-controller .... Use this skill when the base stack is already up and only the dig controller should be started or replaced.

If the user expects the controller to follow a target surface, excavation mapping must already be running. Dig controllers now read both elevation and desired_elevation from /excavation_mapping/grid_map; they should not depend on elevation mapping for the target surface.

~/.codex/skills/dig-controllers/scripts/dig_controllers_tmux.sh --controller dig3d --attach

dig3d now defaults to the deployment preset and packaged shovel fillbridge policy.

Newton controller:

~/.codex/skills/dig-controllers/scripts/dig_controllers_tmux.sh --controller newton --attach

If the user needs a runtime target surface before starting the controller, apply it once through excavation mapping first:

source /opt/ros/jazzy/setup.bash
source ~/ros2_ws/install/setup.bash
ros2 service call /excavation_mapping/apply_runtime_profile mole_excavation_mapping/srv/ApplyRuntimeProfile \
  "{authoring_frame_id: BASE, profile_type: trench, start_x_m: 8.0, end_x_m: 4.0, center_y_m: 0.0, half_width_m: 1.0, depth_m: 0.0, angle_deg: 20.0, entry_angle_deg: 20.0, exit_angle_deg: 20.0, trench_length_m: 2.0, trench_depth_m: -1.5}"

For a 60 degree wedge in front of the robot, from radius 4 m to 8 m:

source /opt/ros/jazzy/setup.bash
source ~/ros2_ws/install/setup.bash
ros2 service call /excavation_mapping/apply_runtime_profile mole_excavation_mapping/srv/ApplyRuntimeProfile \
  "{authoring_frame_id: BASE, profile_type: polar_sector, depth_m: -1.5, radius_min_m: 4.0, radius_max_m: 8.0, theta_min_deg: -30.0, theta_max_deg: 30.0}"

This runtime apply is one-shot per excavation-mapping lifetime. If the user needs a different target later, restart excavation mapping or the perception stack and apply again.

What It Does

Creates (or reuses) a tmux session (default: ros) and a window (default: dig) split into 2 panes:

• Left pane: launches the controller (ros2 launch ...)
• Right pane: waits for the controller node, configures + activates it, and prints the ros2 action send_goal command (does not auto-run)

Supported Controllers

• dig3d → mole_highlevel_controller_cpp/dig_3d_controller_cpp.launch.py (/mole/dig_3d_controller by default, action /run_dig_3d)
• newton → mole_highlevel_controller_cpp/dig_newton_controller.launch.py (/dig_newton_controller, action /run_dig_newton)
• dig → mole_highlevel_controller_cpp/dig_controller_cpp.launch.py (/dig_controller, action /run_dig)
• dig-ee → mole_highlevel_controller_cpp/dig_ee_controller_cpp.launch.py (/dig_ee_controller, action /run_dig_ee)

Resources

• Script: scripts/dig_controllers_tmux.sh