ROS Interface Redesign - Githubissues

thettasch / ferrobotics_acf

A ROS package for interfacing with the Ferrobotics ACF using the TCP/IP Ethernet interface

BSD 3-Clause "New" or "Revised" License

0 stars 0 forks source link

Open thettasch opened 11 months ago

thettasch commented 11 months ago

The current ROS interface doesn't necessarily reflect actual real world usage of the ACF. Consider the following points:

Making force commands a service
Using semantically meaningful message types
Setting the initial force and output force separately and not overriding the initial force all the time

Note some of these are mentioned in PR #2.

thettasch commented 11 months ago

Should we be using a geometry_msgs/Wrench here instead (docs)? -gavanderhoorn

Potentially use stamped wrench.

gavanderhoorn commented 11 months ago

👍, could you open this on sam-xl/ferrobotics_acf? Just so we keep discussion in one place?

thettasch commented 11 months ago

Ah, of course, will do

thettasch commented 11 months ago