ROS usually uses Twist and Pose messages for controllers. I've updated all of the motion controller code to use these types, as well as the nodes and libraries that build on top of the motion controller.
Unfortunately, this is a really large pull request, because I also made changes to the helpers that make them easier to use (zero value constructors, for example) and the changes are very tightly coupled with the changes to the motion controller.
abrandemuehl
commented
6 years ago
ROS usually uses Twist and Pose messages for controllers. I've updated all of the motion controller code to use these types, as well as the nodes and libraries that build on top of the motion controller.
Unfortunately, this is a really large pull request, because I also made changes to the helpers that make them easier to use (zero value constructors, for example) and the changes are very tightly coupled with the changes to the motion controller.