Add degree mode to the robot commander

shadow-robot / sr-ros-interface

A ROS interface for Shadow Robot's hand.

GNU General Public License v2.0

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Closed ugocupcic closed 9 years ago

ugocupcic commented 9 years ago

As requested by @adelarosat, we need a "degree" mode for an easier to use robot commander.

The easy way to do this would be to:

add a degrees=False to the ...joint_value_target functions in the robot_commander (for example here )
check if degrees is True and convert the degrees to radians in the provided joint states (using math.degrees).
use the new joint states (in radians) as before

Don't forget to update the doc and example!

toliver commented 9 years ago

I started migrating the demo some time ago. In this branch (https://github.com/shadow-robot/sr-ros-interface/compare/F_migrate_demo_to_robot_commander) you can also find some filtering for the hand to allow to hide J1 and J2 from the user, and show them as J0.

The filtering function we also converted to degrees.