It would be useful to have a ROS2 package that wraps the visual servoing code. This would include status updates, possibly in the form of a ROS2 Action Server, that includes information like whether the robot has successfully grasped an object.
Blockers
(15 July 2024) The ROS2 stretch_driver does not expose a velocity controller. Further discussion is required to determine a safe way to use the robot's velocity controller and ROS2 at the same time.
Additional Info
See this forum post for some discussions surrounding the current state of the visual servoing controller.
Description
It would be useful to have a ROS2 package that wraps the visual servoing code. This would include status updates, possibly in the form of a ROS2 Action Server, that includes information like whether the robot has successfully grasped an object.
Blockers
(15 July 2024) The ROS2
stretch_driverdoes not expose a velocity controller. Further discussion is required to determine a safe way to use the robot's velocity controller and ROS2 at the same time.Additional Info
See this forum post for some discussions surrounding the current state of the visual servoing controller.