As per the title, this PR adds a ros2 package called test_controller. It contains:
A simple C++ code that creates a node that uses MoveIt2 tools to sample the workspace and compute a set of trajectories in the Cartesian space;
A launch file that is used to launch the node previously discussed;
A report in which the design of the tests and how they were carried out are described, with the related plots generated in Matlab;
A folder called utils with the 2 Matlab scripts I used to obtain the plots.
Some other little fixes
I open this PR mostly for the report part, in order to be sure to have not missed anything important and/or to understand it is all clear to someone who is not me.
Nicogene
commented
9 months ago
As per the title, this PR adds a ros2 package called
test_controller. It contains:MoveIt2tools to sample the workspace and compute a set of trajectories in the Cartesian space;utilswith the 2 Matlab scripts I used to obtain the plots.I open this PR mostly for the report part, in order to be sure to have not missed anything important and/or to understand it is all clear to someone who is not me.