mouse_perturbation_robot
process explained
if the mouse is used "if(_mouseInUse or currentTime - _lastMouseTime < _commandLagDuration)", then this trajectory is successed (for now), when the distance is smaller than a tolerance, then it means we arrive the target. -> label sucess and update parameter.
if the mouse is loose, then failed. wait untill the robot goes back the original position, then label it as failed and update the parameter
passiveDS?
TF? listenser?
cascade
https://github.com/epfl-lasa/iiwa_ros/tree/custom_controllers
rosservice list
rosservice call /iiwa/controller_manager/load_controller '/iiwa/PassiveDS2'
rosservice call /iiwa/controller_manager/switch_controller "start_controllers:
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'/iiwa/PassiveDS2' stop_controllers:
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'/iiwa/DSImpedance' strictness: 0"
rosservice call /iiwa/controller_manager/switch_controller "start_controllers:
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'/iiwa/PositionTorqueController' stop_controllers:
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'/iiwa/PassiveDS2' strictness: 0"
/iiwa/PassiveDS/command
rosservice call /iiwa/controller_manager/switch_controller "start_controllers:
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'/iiwa/DSImpedance' stop_controllers:
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'/iiwa/PositionTorqueController' strictness: 0"
why position controller can't be used?
change the setobstacle part
eigen vector3f [] difference with ()
variables
_gripperObject a dynamically changed variable.. _obstacleCondition is defined at the start of each motion