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Reenable motion retargeting for REEM #21
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In order to easily test motion retargeting for REEM I suggest to add a fake joint controller, which sets the current joint states based on the incoming joint command. This controller together with the robot state publisher would be enough to do a simple kinematics simulation. As a first step I have catkinized the reem_common stack to allow visualising the resulting motion for testing: pal-robotics-graveyard/reem_common#5 |
Adolfo, which (ROS) controller a you currently using for REEM? |
We have an implementation of the JointTrajectoryActionController. We use the trajectory replacement feature to send commands at up to 10Hz. Not in the Github repo, but we have a simple node that gates the output of teleoperation to the controller, so we can start/stop sending commands without killing the whole teleoperation pipeline. |
That's nice. We use the same action interface (FollowJointTrajectoryAction). Hence, we probably can use the same output handler. Furthermore, motion retargeting now offers an easy way to enable/disable the output in runtime. So this extra node you added might be obsolete now. |
The new pipeline version does not support REEM yet.
What we need to implement to support it again:
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