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cmower / ros_pybullet_interface

ROS-PyBullet Interface.
https://github.com/ros-pybullet/ros_pybullet_interface
BSD 3-Clause "New" or "Revised" License
23 stars 16 forks source link

Ts interpolation #148

Closed stoutheo closed 2 years ago

stoutheo commented 2 years ago

Added code for the interpolation example waypoints are manually provided and then a interpolated trajectory is generated and tracked via IK

stoutheo commented 2 years ago

@cmower I also added a plot at cntrl-c, which show waypoints, interpolated plan and actual motion.

It only works at cntrl-c because the run_interpolation.py has no idea when the robot completes the interpolation and arrives to the target. This is meant to be this way, so as to allow minimal delays for down-stream control.

stoutheo commented 2 years ago

by the way, this branch needs to be re-based before it is merged.

cmower commented 2 years ago

@cmower I also added a plot at cntrl-c, which show waypoints, interpolated plan and actual motion.

@stoutheo is this why you kept the while loop rather than using the spin method?

by the way, this branch needs to be re-based before it is merged.

if you could also address changes above and then rebase, let me know and we can merge

stoutheo commented 2 years ago

Working on the documentation, I will finish it tomorrow 1st thing in the morning.

@cmower I also added a plot at cntrl-c, which show waypoints, interpolated plan and actual motion. @stoutheo is this why you kept the while loop rather than using the spin method? @cmower yes, I changed to simple rospy.spin() at first, but then I added this step-by-step "spinning" with the while loop for the plotting.

stoutheo commented 2 years ago

@cmower all done and rebased :)

cmower commented 2 years ago

Thanks @stoutheo!