The advantage of services over topic communication is that we immediately get a response from the service. Thus giving the behavior coordination system on a robot the chance to base a decision on the response. For this I added bool values goal_reached and min_max_limit_reached to the service definitions and implemented he handling within joint_position_controller.py and joint_controller.py
Feedback welcome.
The advantage of services over topic communication is that we immediately get a response from the service. Thus giving the behavior coordination system on a robot the chance to base a decision on the response. For this I added bool values goal_reached and min_max_limit_reached to the service definitions and implemented he handling within joint_position_controller.py and joint_controller.py Feedback welcome.