Feature: Velocity limit when publishing references

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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Feature: Velocity limit when publishing references #2

Closed erolley-parnell closed 6 years ago

erolley-parnell commented 6 years ago

Is there any plan in the pipeline to make a velocity limiting option? For example, where the reference is published and the joint will move towards the PoseStamped location at a specified velocity until another message is received?

alaurenzi commented 6 years ago

Hi! For the near future, no. But it is a good suggestion

alaurenzi commented 6 years ago

Sort-of-implemented in devel branch. Needs testing though. Basically you can set velocity/acceleration limits by changing the following parameters

/xbotcore/cartesian/task_name/max_acceleration_angular
/xbotcore/cartesian/task_name/max_acceleration_linear
/xbotcore/cartesian/task_name/max_velocity_angular
/xbotcore/cartesian/task_name/max_velocity_linear

and then call the service /xbotcore/cartesian/update_velocity_limits

alaurenzi commented 6 years ago

Implemented and tested