For mobile robot with Isaac Sim (bug fixed version) #25
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[change] separate position/velocity/effort command [change] use mimic joint name to publish command
…bot starting state
…tion after being moved to the initial position.
| /// The size of this vector is (standard_interfaces_.size() x nr_joints) | ||
| std::vector<std::vector<double>> joint_commands_; | ||
| std::vector<std::vector<double>> joint_states_; | ||
| std::vector<std::vector<double>> initial_joint_commands_; |
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This is used to store the initial value of each joint; assigning to joint_commands_ will overwrite the value.
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When using Isaac Sim and Move It 2, I have a different variable for joint_command because of the overwriting behavior when I set the initial value to joint_command. It seems that joint_command is overwritten with all zeros even when joint_command messages are not exchanged.
… with robot starting state" This reverts commit 2b23e6c.
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I added initial integration test to the repo #28, do you mind helping me writing tests for this PR as well? Writing tests that would fail without this PR |
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@JafarAbdi Do I just merge feature/integration_test and add the test? |
What do you think about creating a new branch on top of |
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This is part of #29 |
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[add] check velocity command exists to publish command
Solved the problem of commands not being published even if velocity was given, since only the difference in position was checked.
[change] separate position/velocity/effort command
This is the form of command expected by Isaac Sim.
Reference: https://docs.omniverse.nvidia.com/isaacsim/latest/ros2_tutorials/tutorial_ros2_manipulation.html#position-and-velocity-control-modes
[change] use mimic joint name to publish command
When the commands were separated, the joint state index was no longer available, so it was changed to search by name.
Edit: fixed bug about mimic joint only publish position command