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Former-commit-id: 309591d
… end effector frame Former-commit-id: 4fdb8fd
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…ack moving frame Former-commit-id: 555ba1c
…r frame Former-commit-id: 8fcc3ca
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…orks! Former-commit-id: 6d9f513
… but tracking not working Former-commit-id: 5ad89af
…he rotation of the EE is not being handled Former-commit-id: af403d7
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…ed to mess more with rotation, and gripping not addressed yet. Former-commit-id: f4d2544
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…get pose from the controller odom info
…k with v8 and not v9). Need to also run in shell: ros2 run tf2_ros static_transform_publisher 0.2 0 0 0 0 0 1 world quest and ros2 bag play quest_telop_0.db3 --start-offset 15
… about to try and enforce safety
… events, gripper toggling, and clutch based teleoperation. I have not tested this against the bag file or hw yet.
…the initial rotation of the end effector
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Closed in favor of: #520 |
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This PR makes 2 new exciting objectives:
There are some important new custom behaviors we use in here, like GetOdomInstance which just listens to the desired topic and exits successfully after receiving a single odom message on that topic (making it accessible on the blackboard) instead of GetOdom which runs forever, and convert odom to pose stamped is also important.