[Example 14] Modular robot with actuators not providing states, with additional sensors #147
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| "controllers_file": "rrbot_modular_actuators_without_feedback_sensors_for_position_feedback.yaml", | ||
| "description_file": "rrbot_modular_actuators_without_feedback_sensors_for_position_feedback.urdf.xacro", | ||
| "prefix": prefix, | ||
| "use_fake_hardware": "false", |
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Weren't we using fake hardware for the demo? Seems to work regardless of if this is set as true or false.
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There is actually also an simple implementation of an example hardware. But yes, except output in terminal id does not matter if fake or "real" hardware is used.
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| Commanding the robot: see the commands below. | |||
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| ### Example 6: "Modular Robots with actuators not providing states and with additional sensors" | |||
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I'm not sure if it's worth mentioning the slowdown here? The example sends a '5' command to the velocity controller but it spins much slower (due to a default slowdown of 50) which may or may not be confusing to people.
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Slowdown should just make the movement "smoother", i.e., mock dynamics. Otherwise, robot would jump to the goal immediately.
Co-authored-by: Jack <jack.center@picknik.ai>
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DasRoteSkelett,
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kasiceo,
kellyprankin and
ShawnSchaerer
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@DasRoteSkelett did you try to execute the example according to instructions? Did it work?
This is the repository with examples, so we will likely not add any tests for this code. |
christophfroehlich
changed the title
Co-authored-by: Denis Štogl <denis@stogl.de> Co-authored-by: Jack <jack.center@picknik.ai>
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Closing in favor of #334 |
Co-authored-by: Denis Štogl <denis@stogl.de> Co-authored-by: Jack <jack.d.center@gmail.com>
Adding example 6 where actuatore does not provides state but separate sensors are used for it.
The "mechanical connection" is implemented using socket communication.
This is the last example for differnet architectures. The rest is moresty different type combination that need further development of the framework.