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OSU-AIMS / light_painting

Demonstration project which traces a LED EEF through space for a long-exposure photo.
Apache License 2.0
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Deploy Descartes tool for straight line motion #5

Closed acbuynak closed 2 years ago

acbuynak commented 2 years ago

This PR implements a ROS Action Server which accepts a Cartesian pose and creates/sends a trajectory to a robot.

All input parameters are currently hard-coded. The program does not accept any variables on launch besides a ROS node namespace.

Resolves Issue #1

Testing: Test Result
Simulation Works great. No issues.
Hardware (Motoman GP7) Works great. No issues.

ToDo: Add ROS action client to the main Python control scripts. See ROS 1 tutorial here.