Add some basic support for val #17
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bsaund
reviewed
Jan 18, 2021
bsaund
reviewed
Jan 19, 2021
grippers don't mimic correctly in simulation untested on the real robot
unlike victor its max speeds are pretty slow
also refactor some classes so this file doesn't get too long
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I'll merge once I've tested on victor + val |
added 4 commits
January 19, 2021 09:59
added rviz config to make sure people have those settings right
more accurately check for "empty" trajectories
up the allowed velocity error not ideal, but only relavent in simulation AFAIK because in the real world these tolerances are ignored
one small "bug" where moveit things the ground plane intersects robot because the gazebo moveit plugin doesn't TF robot frames correctly
although sometimes the traj follower times out because the hardware doesn't quite reach the goal
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@hrchengmike it might be insightful for you to look at this PR just to get familiar with the code for Val. Feel free to comment on it with any questions you have |
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@PeterMitrano Got it! |
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only tested in simulation at the moment, I plan to test this on val later today