Currently, the RobotControlHelper::setReference switches the control mode of the joints if they are not in the expected configuration. This may lead to errors and RPC calls in the main control loop. After discussing with @S-Dafarra, we decided that it's better to remove this feature.
[!WARNING]
Once the PR (that needs to be opened) is merged, several existing code instances will stop working.
cc @mebbaid @isorrentino @S-Dafarra @evelyd @rob-mau
GiulioRomualdi
commented
6 months ago
Currently, the
RobotControlHelper::setReferenceswitches the control mode of the joints if they are not in the expected configuration. This may lead to errors and RPC calls in the main control loop. After discussing with @S-Dafarra, we decided that it's better to remove this feature.cc @mebbaid @isorrentino @S-Dafarra @evelyd @rob-mau