Docs + simple generic gripper controller interface + minor bug fixes #64
Conversation
…trolling a robot's gripper
…nted gripper controller functionality
…ted gripper controller functionality
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@alex-mitrevski @abhishek098 we need to fix a version for kdl and kdl_parser, since they seem to be making some issues. Do you know the exact version number?
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* Builds using bitbots-domestic image * Only adds mas_domestic * Removes the need for a separate travis.rosinstall file
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The latest changes have fixed the previous build problems.
There is one caveat though... the current Travis build is not checking for dependencies added to the mas-domestic.rosinstall file to keep the build times low. I'll open a new issue to find a smarter way to check for those.
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Issue #70 reflects the shortcomings of the current Travis setup. |
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@alex-mitrevski we might want to create a release, given the number of changes since we last published one. |
This pull request adds a new package
mdr_gripper_controllerunder themdr_manipulationmetapackage; the package includes a high-level gripper controller base class that declares methods for opening and closing a gripper; robot-specific implementations can then define the methods so that they interact with a robot-specific gripper controller. The new implementation makes thepickupandplaceactions more robot-independent (the previous functionality for controlling the gripper in the actions was not sufficiently robot-independent). Thepickupandplaceactions have been appropriately updated.A few error/bug fixes are also included in the pull request:
mdr_2dnavhad syntax errors that have now been resolvedmove_armaction,dmp.pyhad various frame names as hardcoded strings, which was making the script robot-dependentFinally, I've added a Doxyfile and included documentation for the following packages:
mdr_hrimdr_command_robotmdr_sound_vocalisationmdr_rosplan_interface