MoM meeting 08 September 2023

[martinaxgloria]

Participants

@Nicogene @pattacini @traversaro @randaz81 @elandini84

Discussion

Position direct control

• After implementing the possibility to switch to position-direct control using a ros2 service, we have to understand how the callback for this control works, since when it's used, it causes the gazebo node to badly close and rviz doesn't respond to any command. Next week, @Nicogene, @randaz81, @elandini84 and I are going to meet to understand the problem

GetPosition and GetVelocity services

• This PR: https://github.com/robotology/yarp-devices-ros2/pull/53 introduces GetPosition and GetVelocity ros2 services and their relative callbacks inside ControlBoard_nws_ros2. @elandini84 and @randaz81 are going to rebase it and if no error occurs, they will merge it.

Planning groups

• It came out the possibility to define as planning group torso + one arm in order to do for example grasping movements with iCub. We aim to find a way to handle the controllers for the single parts and the set of parts. We could implement a custom controller interface to ask at runtime which controller the user would use.

Installation

• @traversaro suggests incorporating yarp-devices-ros2 inside the superbuild. In particular, during the installation procedure of the superbuild, there would be a flag like ROBOTOLOGY_USES_ROS2 to enable the installation of yarp-devices-ros2. Since this repo is currently under testing, it could be released in beta version.

Other stuff

• We discussed the possibility of dropping Ubuntu 20.04 compatibility in YARP 3.9.0 in favor of Ubuntu 22.04. Unfortunately, as reported by NVIDIA here, Ubuntu 22.04 will be supported in Jetpack 6.0, which is only for Orin boards. Then, we decided to not update our hardware and put a tag for a version of YARP compatible with that machine.

[martinaxgloria]

Hi everyone,

I added the main points of the meeting. Please, feel free to edit if I forgot something