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personalrobotics / rewd_controllers

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BSD 3-Clause "New" or "Revised" License
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MoveUntilTouchTopicController #20

Closed Ponzel closed 6 years ago

Ponzel commented 6 years ago

TheMoveUntilTouch**Topic**Controller is basically the same as the MoveUntilTouchController, but instead of Hardware Interfaces it uses ROS topics and action clients to communicate with the Force/Torque sensor.

I'm not sure if copying the class is ok here. My feeling was that if we and up creating more MoveUntilTouch-like controllers, we need to clean it up (create something like a base class for those controllers). But I thought if we only need the one additional controller, copying the code one time might be ok.

Additionally, there is a small change in JointTrajectoryControllerBase: We need to choose the type of control (position, velocity, effort) via rosparams.

brianhou commented 6 years ago

Looks great to me, thanks! Merging now 🎉