Hi!
Finished my build of the AR4 MK3 in Finland some time ago. Even recoded the time the build took me,
52.5 hours of slow, careful and deliberate work.
Ros2 is working thanks to ycheng @ https://github.com/ycheng517/ar4_ros_driver/
Below's a sample with Chris' software (object recognition) and one with ros 2 collision aware IK.
For anyone interested, here's what the newest velocity control implementation might look like in practice. It allows for over 10 times faster acceleration amd velocity than the original position based control, while maintaining smaller position and goal errors.
@ycheng517 is merging these new changes into his solution, see
(Original trajectory and goal limits are 0.02)