Add adjust angle vector ROS server/client

iory / rcb4

MIT License

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Add adjust angle vector ROS server/client #77

Closed 708yamaguchi closed 1 month ago

708yamaguchi commented 2 months ago

Usage

Command

ri.angle_vector([0,0,0,0,0,0,0,0,0,0], 5)
ri.wait_interpolation(adjust_angle_vector=True, error_threshold=5)

Log

Servo [4] error [6.][deg] exceeds threshold [5.][deg].
Stop motion by overriding reference angle vector with current angle vector.
[WARN] [1724857818.102982]: Stop motion by adjust angle vector.

708yamaguchi commented 2 months ago

Thank you for your review. I pushed some commits.

708yamaguchi commented 1 month ago

I rebased the latest origin/master and confirmed this PR again. It's OK to merge after CI passed.