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cart_pulling.py
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m-guberina authored
made the template for the behaviour tree. put in clicking to grasping and then pulling. that part seems to work just fine. need to initialize path for pulling for it to make sense. this can be done when the clik flag turns of (thus the priority_register should be saved in past data). constructing the path for the gripper does not exactly work, but the code is there and so it's just the logic that needs to be fixed. i will get more eyes on that. next up is to make add a controlLoopManager funciton which can be a callback to a ros2 node, and to add ros2 topic communication into robotmanager under sendqd and getq. after that we can do vision and tune stuff.
m-guberina authoredmade the template for the behaviour tree. put in clicking to grasping and then pulling. that part seems to work just fine. need to initialize path for pulling for it to make sense. this can be done when the clik flag turns of (thus the priority_register should be saved in past data). constructing the path for the gripper does not exactly work, but the code is there and so it's just the logic that needs to be fixed. i will get more eyes on that. next up is to make add a controlLoopManager funciton which can be a callback to a ros2 node, and to add ros2 topic communication into robotmanager under sendqd and getq. after that we can do vision and tune stuff.