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hello-robot / stretch_ros

ROS packages for the Stretch mobile manipulators from Hello Robot Inc.
https://docs.hello-robot.com/0.2/stretch-tutorials/ros1/
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Fix broken APIs in Command groups after new contact model feature in stretch_body #77

Closed hello-fazil closed 1 year ago

hello-fazil commented 1 year ago

The contact_thresh_N, contact_thresh_pos_N and contact_thresh_neg_N argument is deprecated by removing the suffix '_N' with all the move_to(),move_by(), translate_by() and rotate_by() APIs that is associated with stepper motors after the new contact models feature introduced to the stretch_body.

hello-fazil commented 1 year ago

After this branch merges the above-mentioned API fixes must also be implemented in to the melodic branch.

aedsinger commented 1 year ago

See the new API with Stretch Body 0.4.0.dev0

hello-binit commented 1 year ago

@hello-fazil @aedsinger Thoughts on adding a version check to Stretch Driver, where if stretch_body.__version__ is under 0.4.0, it'll error out and ask the user to upgrade?

hello-fazil commented 1 year ago

@hello-fazil @aedsinger Thoughts on adding a version check to Stretch Driver, where if stretch_body.__version__ is under 0.4.0, it'll error out and ask the user to upgrade?

Yes, I think that would be a good feature.