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vislab-tecnico-lisboa / vizzy

The tools you need to interact with Vizzy robot.
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Requirement #1

Closed mikearagao closed 9 years ago

mikearagao commented 9 years ago

Issue by plinioMoreno Saturday Feb 07, 2015 at 17:20 GMT _Originally opened as https://github.com/vislab-tecnico-lisboa/vizzy_control/issues/1_

These controllers should act like the yarp ones. So my question is: How are you going to implement the version-vergence controller?

mikearagao commented 9 years ago

Comment by ruipimentelfigueiredo Sunday Feb 08, 2015 at 13:03 GMT

@plinioMoreno I was thinking about two possibilities: The first could be changing the source code of the original yarp plugins and change the interfaces to ROS. The second would be to use the standard and out-of-the-box PID ros controllers just to expose the simulated motors to the ROS side. Then the version-vergence controller would be a higher layer using the standard PID controllers. What do you think?

mikearagao commented 9 years ago

Comment by plinioMoreno Sunday Feb 08, 2015 at 14:30 GMT

Actually this hasn't been done yet in the plugins. @mikearagao is working on that. The second option is the best one, because we want the controllers totally independent.

On 2/8/2015 1:03 PM, Rui Miguel Horta Pimentel de Figueiredo wrote:

@plinioMoreno https://github.com/plinioMoreno I was thinking about two possibilities: The first could be changing the source code of the original yarp plugins and change the interfaces to ROS. The second would be to use the standard and out-of-the-box PID ros controllers just to expose the simulated motors to the ROS side. Then the version-vergence controller would be a higher layer using the standard PID controllers. What do you think?

— Reply to this email directly or view it on GitHub https://github.com/vislab-tecnico-lisboa/vizzy_control/issues/1#issuecomment-73409901.

Plinio Moreno López http://www.isr.ist.utl.pt/~plinio plinio@isr.tecnico.ulisboa.pt

mikearagao commented 9 years ago

Comment by ruipimentelfigueiredo Monday Feb 09, 2015 at 00:33 GMT

Ok, the controllers are now working for the head and torso on the ROS side. It's now possible to move the joints in gazebo using ROS. The ROS controllers can be used independently from the yarp ones

mikearagao commented 9 years ago

Comment by mikearagao Monday Feb 09, 2015 at 00:40 GMT

Nice @ruipimentelfigueiredo :smile:

Yeah I think that is the best option. This way we'll have two separate approaches (hopefully!)...