Hi,
It seems like many people/projects care for selecting which joint is controlled by the plugin. For example, here are two public repos that implement this same feature, and there are probably more as I didn't look much for it :
Currently, the standard default_robot_hw_sim grabs all transmissions available in the model.
Integrating this feature in the current package would take around ~10 basic lines of C++ and wouldn't break backward compatibility (e.g. if a list of joint or transmission is specified, then only this list is controlled, and if not, then all available transmission are grabbed).
Would it make sense to integrate it ?
I would be willing to do it.
Hi, It seems like many people/projects care for selecting which joint is controlled by the plugin. For example, here are two public repos that implement this same feature, and there are probably more as I didn't look much for it :
Currently, the standard default_robot_hw_sim grabs all transmissions available in the model.
Integrating this feature in the current package would take around ~10 basic lines of C++ and wouldn't break backward compatibility (e.g. if a list of joint or transmission is specified, then only this list is controlled, and if not, then all available transmission are grabbed).
Would it make sense to integrate it ? I would be willing to do it.
Best