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ADVRHumanoids / CartesianInterface

Package for generic cartesian control of floating base robots. It includes a ROS-based front end, as well as a programmatic API that can be used inside a real-time loop.
GNU General Public License v3.0
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CartesianMarker message should contain end-effector/distal-link information? #1

Closed EnricoMingo closed 6 years ago

EnricoMingo commented 6 years ago

Despite this information can be retrieved from the topic name, why don't insert it in the topic message? Or we could provide this information as service? This is of course for the use in non-programmatic way.

alaurenzi commented 6 years ago

I have two possibilities: 1) single service with task name as request field (e.g. /xbotcore/cartesian/get_task_info)

string task_name
---
string base_link
string control_mode # pos/vel/disabled
string task_state # reaching/online
bool success # task_name exists

2) one service for each task (e.g. /xbotcore/cartesian/l_sole/get_task_info) with empy request

---
string distal_link
string base_link
string control_mode # pos/vel/disabled
string task_state # reaching/online
bool success # task_name exists
alaurenzi commented 6 years ago

Second option implemented in latest master