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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 optional field to rosee command #76

Closed torydebra closed 3 years ago

torydebra commented 3 years ago

And tranfer the command to the hal node

torydebra commented 3 years ago

Done in the hal_xbot2 branch, commit , that would be merged soon in devel, the commit is fc69e3de0dfb0ce080b9201d58a14cab377885a6

I added two vector in the command msg: optional_motors_names and optional_motors_commands. If filled, they will be read by ROSEE main and propated through the hal with the already present jointState message, in the effort field (we are currently using position field for position commands derived from grasping actions).