whole body control with a TIAGo robot
Dear community,
I want to use a gamepad to control Tiago robot by PAL robotics. In order to control its arm, I used the moveit commander python interface. The idea was to read the current pose of the end effector, and increment it by a small value like 0.05 (m) based on the axis or the button pressed on the gamepad. Everything is working perfectly, however, I had to wait for the arm commander group to arrive at the desired pose.
plan = group.go(wait=True)
So the movement of the arm is no longer smooth, and if I change the wait argument to False the arm will start vibrating and not moving anywhere, Any solution please?
If it is vibrating the moveit is continuously planning and giving new goals, I would recommend you to stop planning and doing anything if you are within a certain tolerance and until you receive a new command from the gamepad
So, you mean that i can't change the goal in real time, and I have to wait for each goal to be reached ? However, I don't want to wait for it to reach I want to change the goal in real time.
Then you perhaps should not be using the MoveIt commander, as it's not really meant for this kind of thing.
Perhaps #q261368 can clarify some things (it's a bit of an older Q&A, but parts are still relevant).
For real-time servoing, you might want to look at moveit_servo. It exists for both ROS 1 and ROS 2.
Thank you so much.