The Cartesian controller transforms a target Twist to target joint velocities, these get integrated in an open loop to given the target joint positions for the next time step.
It is useful to know that target Cartesian position of the open loop controller.
The Cartesian controller transforms a target Twist to target joint velocities, these get integrated in an open loop to given the target joint positions for the next time step.
It is useful to know that target Cartesian position of the open loop controller.
I added a publisher for it + some re-factoring.