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[cob_cartesian_controller] Re-work ActionInterface and abortian criteria #75

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fmessmer opened this issue Dec 15, 2015 · 0 comments
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fmessmer commented Dec 15, 2015

The following open issues have been separated from #52

  • add toggle/boolean parameter/variable that allows enabling/disabling the abortian criteria check (both to ActionGoal, ServiceRequest and DynamicReconfigure)
  • better Action interface for cob_cartesian_controller (e.g. separate MoveLin and MoveCirc actions?)
  • finalize/unify Python interface (simple_cartesian_interface)
  • use Action interface of cob_frame_tracker rather than Service interface
  • rework/improve safety-/abortion-/hold_twist criteria (remove from cob_cartesian_controller, improve in cob_frame_tracker)
  • in the end start_tracking service should completely be replaced by respective action (?)
  • also provide an action for start_lookat...maybe from within the start_tracking action with a respective boolean flag for toggling between tracking and lookat

@fmessmer FYI

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