add JointGroupVelocityController #400
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1. XmlRpc method read yaml file 2. use std::vector<control_toolbox::Pid> 3. use realtime_tools::RealtimeBuffer<std::vector<double>>
Smilels
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Dec 6, 2020
add JointGroupVelocityController in pr2_controllers (see PR2/pr2_controllers#400)
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waiting for ros-controls/control_msgs#50 |
v4hn
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May 10, 2021
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@k-okada why would we wait for that? The commit you referenced is the attempt to synchronize the new message with ros_control, but the PR here adds the message on its own because the PR2 does not support ros_control (it uses the pr2_controller_manager code that was the basis for ros_control instead).
I believe migrating to ros_control is out of scope here, but the patch still makes sense.
v4hn
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May 25, 2021
add JointGroupVelocityController in pr2_controllers (see PR2/pr2_controllers#400)
v4hn
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May 25, 2021
add JointGroupVelocityController in pr2_controllers (see PR2/pr2_controllers#400)
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Meanwhile, and the pr2_joint_group_velocity_controllers.yaml in pr2_robot and send a pull request to pr2_robot (add pr2_joint_group_velocity_controllers.yaml pr2_robot#264)