search

ADVRHumanoids / ROSEndEffector

ROS End-Effector package: provides a ROS-based set of standard interfaces to command robotics end-effectors in an agnostic fashion
Apache License 2.0
27 stars 6 forks source link

Add ROS service to introduce new grasping action from external node #71

Closed torydebra closed 3 years ago

torydebra commented 3 years ago

To follow the solution 2, probably best solution is to add a new ROS service addNewAction . With this one external node can "add a new action in the system". The service msg will be composed by the ActionGeneric information (name, joint pos refs, joint Involved, optionally fingers involved). Some validation will be performed (is the action name already in use? are the joint names coherent with the joint names of the hand?), and if passed, the action "inserted in the system" (and maybe emitted in a yaml file).

Since now, the user can request to command this new action like the other ones (thus, without specifying position references but only the name of the action and the percentage)

Originally posted by @torydebra in https://github.com/ADVRHumanoids/ROSEndEffectors-ModelAndControl/issues/65#issuecomment-701277718

torydebra commented 3 years ago

dedicated branch https://github.com/ADVRHumanoids/ROSEndEffector/tree/issue71, only some tests needed

TODO write something about it in doc

torydebra commented 3 years ago

The new doc page : https://github.com/ADVRHumanoids/ROSEndEffectorDocs/commit/f9e072022eb93469ae3a578b3c0e873fbf843b6a