Closed zrwang closed 7 years ago
This looks great. Could you do one small modification: in function [position, effort, timestamp] = get_state_joint_current(self)
(and get state joint desired), could you also return the velocities? function [position, velocity, effort, timestamp] = get_state_joint_current(self)
.
update the MATLAB wrapper in a way of using getter rather than keep receiving ROS messages to avoid the blocking issue.