Enable lifts to work with TPE #250
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Modifies lift plugin to issue either joint or model velocity commands based on the physics engine used.
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The code itself looks good, there is no way to test it yet though since link level commands in TPE are still a work in progress.
I guess we would either need a simple test world with lifts that have a single door (maybe a branch on a rmf_demos fork?) or we would need to wait for the feature to make it in ign-physics first.
What do you think?
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I was able to test just the lift movement on TPE (minus the door opening/closing) with the lift panel tab on Rviz. Combined with the full testing with DART, would that be sufficient? If not, I can try creating a demo with a lift that has a single door. |
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Good point, I managed to test it through full testing in DART and partial testing (manually placing the robot inside the lift) through RVIZ as you mentioned and it looks great! |
Modifies lift plugin to issue either joint or model velocity commands based on the physics engine used.