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CentroEPiaggio / kuka-lwr

Software related to the KUKA LWR 4+: for real and for simulation.
The Unlicense
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Added pose publisher to cartesian impedance controller #86

Closed marcoesposito1988 closed 7 years ago

marcoesposito1988 commented 7 years ago

Having somewhere a reliable source of what FRI believes to be the current cartesian position of the robots can be practical (and avoid dangerous errors).

If you wish I can make the publishing optional through a parameter.

carlosjoserg commented 7 years ago

I think that's better to be opt-out yes

What FRI publishes does not necessarily match the robot state publisher output when you change reference systems in the KUKA controller, I mean, I think FRI publishes in the robot base and not in world, while the robot state publisher might be publishing the pose according to the user configuration in the URDF

marcoesposito1988 commented 7 years ago

Yes, that's why I think it could be good to have it - at runtime you can check that you are not sending a command which is too far away from the robot's position (according to FRI).

Ok, I will add a parameter to make it optional.