Preempting or canceling gestures/motor movements

luxai-qtrobot / QA

Virtual repository for Questions & Answers system

http://luxai-qtrobot.github.io

5 stars 0 forks source link

Preempting or canceling gestures/motor movements #1

Open RMichaelSwan opened 4 years ago

RMichaelSwan commented 4 years ago

Is there any support for this feature in the source code or interface? I believe it is possible to preempt commands with some of the controllers often used with the ros_control package so I was wondering if QT also supported this. It would be useful if some sensor indicated we should change our current movement plan.

apaikan commented 4 years ago

Some robot actions such as playing gesture or audio files are not preemptable currently. It is in our release plan and will be available soon!

RMichaelSwan commented 4 years ago

Are simple motor/joint movements preemptable right now? Our experimentation doesn't seem to indicate it, but perhaps we just aren't using the right method (currently just sending commands to services).