advices on the structure of packages and functions
Hi all,
I'm working on the programming of functionality of my robot, basically, pick&place and door_opening. But I'm not sure how to make the whole packages more modularized.
For example, I have a node (a single cpp file) for pick&place including moving base, moving arm, moving gripper, solving ik. Within this node, the moveit move_groups for arm, base, gripper are created, some parameters such as the name of eef are also loaded. For the door_opening node, the movement of base,arm, gripper are also needed. And If I use the state machine or behavior tree, in each subaction such as approaching door, grasping the handle, unlatching I have to create these move group and load the parameters again, which causes a lot of redundancy.
Is there any book or website or complete codes that can be reference? I noticed that pr2 may make the ik as ros service, base, arm, gripper move as ros actions. But I can't find the full pr2 codes, some are deprecated and cannot be used for ros kinetic.
Thanks for any help!
