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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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Change distal_link on-line #38

Closed EnricoMingo closed 3 years ago

EnricoMingo commented 4 years ago

We have recently considered the possibility to change the distal_link name on the fly in our Cartesian tasks. This creates a series of issues related on how we handle the tasks, topics names and so on. In particular: the task distal_link at the moment is also the topic name which eventually may change if we implement the possibility to change it. This is not wanted of course. A possible solution could be to use the task name as topic name.

Another point is to refactor a little the yaml creation so that sub tasks are particular types of tasks which refers to tasks that are already defined. Something like:

T1:
 type: Cartesian 
 base_link: sossio
 distal_link: aruta
 ...

S1:
 type: SubTask
 base_task: T1
 indices: [1, 3]
alaurenzi commented 4 years ago

Related to #35

alaurenzi commented 4 years ago

Proposed syntax is supported in refactor2020

EnricoMingo commented 4 years ago

Did you try as well this feature? If it works also markers needs a small refactor to show the distal_link menu.