[WIP] Velocity Based Cartesian Controller for Arm #182
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uwrt_arm_cartesian_controller/include/uwrt_arm_cartesian_controller/visibility_control.hpp
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uwrt_arm_cartesian_controller/include/uwrt_arm_cartesian_controller/visibility_control.hpp
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| ret.twist.angular.y = 0; | ||
| ret.twist.angular.z = 0; | ||
| ret.header.stamp = rclcpp::Time::now(); | ||
| // younes todo whats the name of the arm's base frame ret.header.frame_id = "foo"; |
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if im reading the xacro right the name of the arms base frame is called base link. wanted to confirm that this is right bc that name is typically reserved for a robots mobile base (ie the chassis link)
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it is rn. it should be changed. @meshvaD
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ill use the current name for now. @meshvaD can u pls lmk when u merge the change into master?
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Why do you actually need to hard code link names? They could be loaded ad parameters (ex. End effector link and arm base link)
uwrt_arm_cartesian_controller/src/uwrt_arm_cartesian_controller.cpp
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| ROS_INFO_STREAM("***Listing HW Interfaces: ***"); | ||
| // Get joint handles for all of the joints in the chain | ||
| /*for (std::vector<KDL::Segment>::const_iterator it = kdl_chain_.segments.begin(); it != kdl_chain_.segments.end(); ++it) | ||
| { younes todo wut is this? wut is joing handles wut is command_interfaces |
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ros control stuff. joint handles = handles for the joints(it doubles as the name of the joint). command interfaces is the interfaces that the arm supports. in thjs case, u should validate that the interfaces are all vel interfaces or else throw an error
uwrt_arm_cartesian_controller/src/uwrt_arm_cartesian_controller.cpp
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younesr1
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still very much a wip. would still appreciate any feedback though