Moveit task constructor and PR2 gripper sensor
Hi, I am using Moveit task constructor to build complex task for PR2 robot. I want to add gripper sensor function (accelerometer, force sensor) to allow PR2 to know when to release object (when human tries to get it from the gripper), or grab the object with a certain force. As the gripper sensor existing code is based on action servers, I understand that I can't use it "directly" with moveit task constructor (because if I understand well, MTC is generating trajectories for each stages and then tries to plan a path connecting all the sub-trajectories). The action servers from gripper_sensors seems to only publish command to topic handling low level sensor controller. What would be the best way to add gripper sensor functionnality into MTC ? Getting rid of the action server and add the code into a custom stage ?
If my understanding on some point of MTC is false, please feel free to correct me (I am still learning how MTC works) .
Regards
