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personalrobotics / ada_ros2

ROS2 Hardware Interface and Description for the ADA Robot
BSD 3-Clause "New" or "Revised" License
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Added readonly to Jaco2 HW interface #35

Closed egordon closed 9 months ago

egordon commented 9 months ago

If readonly is true on launch, don't expose any command interfaces. Just expose joint state interfaces.

This is useful for being able to teleoperate or kinesthetically control the robot and have the proprioception visible in RViz / other apps (e.g. camera calibration).