Create velocity based cartesian controller for arm

uwrobotics / uwrt_mars_rover

Ros Metapackage for UWRT Mars Rover

MIT License

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Create velocity based cartesian controller for arm #181

Open younesr1 opened 2 years ago

younesr1 commented 2 years ago

Create a ros2 controller that takes in 2 3-vectors representing end-effector velocity and ouputs joint speeds

refactor aidan's code from last year: https://github.com/uwrobotics/uwrt_mars_rover/blob/akeaveny/100/cartesian-arm-control/uwrt_arm/uwrt_arm_controllers/uwrt_cartesian_controller/src/cartesian_controller.cpp

wmmc88 commented 2 years ago

Should try to make this pretty modular so it's not fixed to a single link configuration. Pls specify what ros msgs are used for input and outputs and the planned params, etc