Using tf data of geomagic touch to control schunk lwa3
Hi, I am trying to control schunk lwa 3 in gazebo using joint angles of geomagic touch. I can control lwa3 using commands from the terminal but to teleoperate I need to somehow map tf data of geomagic touch to lwa3. I dont know how to go about it. Is it possible to control lwa using omni keeping in mind difference in their configuration. I would be thankful if anyone could point out the steps to go about it.
I think the first thing to understand is how you would do this without ROS involved. Seems like a classic control problem.
What kind of dataflow would you need? What are the transformations involved?
Only then it would make sense to look at how to do this with ROS.