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This PR introduces a velocity mode in Stretch Core that enables velocity control of every joint except the gripper, which remains in position control. Mobile base velocity control happens via the cmd_vel topic, and velocity control of the remaining joints happens through the FollowJointTrajectory action server. A
move_at_speed()
method is added to the HelloNode class to make it easy to use velocity mode.Limitations:
TODO:
How to test
Install Stretch Body locally and checkout feature/dxl_vel_improvements. In your Catkin workspace, in the stretch_ros repo, change the branch to feature/velocity_control.
Launch the driver:
Open ipython to use the HelloNode.move_at_speed() method:
Valid joints are joint_head_pan, joint_head_tilt, joint_lift, joint_arm, joint_wrist_yaw.