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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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Local api fix #91

Open EnricoMingo opened 2 weeks ago

EnricoMingo commented 2 weeks ago

This pull request add the possiblity to set local velocity references for Cartesian task. While this was already possible using the topic by changing the frame_id entry of the message (as suggested by @alaurenzi), a method for the C++/Python API was missing. This is now done through a flag which is also recognized by the cartesian tasks properties. The property is called use_local_velocity, it can be set through service, in the yaml file, or via C++/Python API. Is set to True, the frame_id is ignored when using the topic (maybe we can add a ROS info if needed)

alaurenzi commented 6 days ago

Hi @EnricoMingo I find it a bit confusing / error prone that a setter method works differently based on a flag that is set elsewhere (and not directly in the method's signature)

EnricoMingo commented 6 days ago

Do you suggest putting these frag directly in the reference setters methods?