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Build C/C++ MQTT client #2

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Drallert opened this issue Jun 20, 2022 · 0 comments

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Construct and rep...

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Drallert commented Jun 20, 2022 •

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Requirements:

Publishes in topic "trajectory_execution"
Subscribed to topic "commands"
Packet format:
- [type,position,n]
- type: type of packet
  - 1: position packet --> position is meaningful and n is step of execution
  - 0: nack packet --> non valid command (maybe with error codes?)
  - 2: finish packet --> trajectory execution has finished
- position: [j1,j2,j3,j4,j5,j6], where j1-j6 are joints' 1 through 6 positions
- n: digit, indicates step number of execution for updating progress bar in the GUI

Drallert added the enhancement label

Drallert added this to the Construct and represent 3D trajectory as it is being executed - Python GUI milestone

Drallert self-assigned this

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