sam-xl / ferrobotics_acf Goto Github PK

Split interfaces (messages and services) and node (the node interfacing with the ACF) in separate packages, both contained in the same repo, with the aim of complying with existing ROS conventions.

The current ROS interface doesn't necessarily reflect actual real world usage of the ACF. Consider the following points:

• Making force commands a service
• Using semantically meaningful message types
• Setting the initial force and output force separately and not overriding the initial force all the time

Note some of these are mentioned in PR #2.

Should we be using a geometry_msgs/Wrench here instead (docs)?
-gavanderhoorn

Potentially use stamped wrench.