maxspahn / fabrics_ros Goto Github PK

@c-salmi reported that is some situations, the planner might become 'dead' after a change of the type of planner.
We should try to report on this with more details if the problem occurs again.

The obstacle publisher is not initiated.

If the client stops, the robot will go back to the default goal.

Encountered this error when working with Yuije to look towards the apriltag. Seems like the indices have to be specified, maybe we could add a better default?

version: tag: demo-RH-2023-11-17

If the arm is folded, self-collision avoidance can lead to local minima in some situations. This is especially true for long-extending end-effectors.

In the develop branch:
Bug that is remaining after pull request: interactive_marker runs but isn't interacting with the robot.

Other things:

• end-effector pose reaching is not good in simulation
• The main branch is not running

There is the acc stop command subscriber that sets a boolean here. But this requires an additional call to the topic to unblock (set the boolean to False).

It would be nice to have a way to preemt a goal so the robot will keep the current joint states but doesn't block future goals.

The command roslaunch fabrics_bridge fabrics_interactive_marker.launch gives the error that config/fabrics_panda_config.yaml is not found, and this file also doesn't exist in the folder. The readme is therefore out of date.