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1 | initial version |
Yes, just use a RobotModel
or RobotState
in C++ as described in the tutorial. Your copy will not be updated to the "current"/"real" robot state, and you can define its state freely. You can copy most of the code from the compute_fk
service, as you assumed.
The compute_fk
service is a move_group_capability
(a plugin that is started up by the move_group
node) that is defined here. The move_group
's plugin-based structure is a bit confusing to read, but this explanation should help.
I notice that you didn't really ask a question, but I hope that solved what you were getting at.
2 | No.2 Revision |
Yes, just use a RobotModel
or RobotState
in C++ as described in the tutorial. Your copy will not be updated to the "current"/"real" robot state, and you can define its state freely. You can copy most of the code from the compute_fk
service, as you assumed.
The compute_fk
service is a move_group_capability
(a plugin that is started up by the move_group
node) that is defined here. The move_group
's plugin-based structure is a bit confusing to read, but this explanation should help.
I notice that you didn't really ask a question, but I hope that solved what you were getting at.
3 | No.3 Revision |
Yes, just use a RobotModel
or RobotState
in C++ as described in the tutorial. Your copy will not be updated to the "current"/"real" robot state, and you can define its state freely. You can copy most of the code from the compute_fk
service, as you assumed.
The compute_fk
service is a move_group_capability
(a plugin that is started up by the move_group
node) that is defined here. The move_group
's plugin-based structure is a bit confusing to read, but this explanation should help.
I hope that solved what you were getting at.