Local control using frame_id field of velocity ref message

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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Local control using frame_id field of velocity ref message #16

Closed alaurenzi closed 5 years ago

alaurenzi commented 5 years ago

On latest devel, local control can be performed by leveraging the header.frame_id field of the velocity reference message. This simplifies user code who doesn't have to manually rotate the references. This can be implemented inside the Joystick class.

alaurenzi commented 5 years ago

Tentative implementation on new branch local_ctrl_refactor, needs testing. As an advantage, twist rotation is performed inside the solver, avoiding TFs issues. @liesrock @EnricoMingo

alaurenzi commented 5 years ago

Tested and ok