b-it-bots / mas_domestic_robotics

Robot-independent ROS packages for domestic applications

GNU General Public License v3.0

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Online DMP Trajectory Generation #231

Closed af-a closed 4 years ago

af-a commented 4 years ago

Summary of changes

This PR addresses the first item in #230. It introduces a change in the way in which a trajectory is stepped though in the DMPExecutor. Instead of rolling out the whole trajectory, storing the end-effector coordinates, and then sending velocity commands in the control loop, individual trajectory steps are generated within the control loop.

Tests To Verify Changes

The modified DMP executor was tested on the robot by running the pickup action and verifying that the generated trajectory matches the one produced by the original, offline trajectory generation strategy.

sonarcloud[bot] commented 4 years ago

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0.0% Duplication