bosch_proximity_sensor_applications: pr2_arm_teleop_skin | pr2_calib_proximity_sensor | reactive_trajectory_controller
Package Summary
reactive_trajectory_controller
- Author: John Hsu, Melonee Wise, Stuart Glaser, Adrian Funk
- License: BSD
- Repository: bosch-ros-pkg
- Source: svn https://bosch-ros-pkg.svn.sourceforge.net/svnroot/bosch-ros-pkg/trunk/stacks/bosch_proximity_sensor_applications/reactive_trajectory_controller
Contents
This package contains a controller that tries to move around obstacle dynamically. In order to load the controller you have to unload the currently running controller.
rosrun pr2_controller_manager pr2_controller_manager kill l_arm_controller r_arm_controller
The controller needs an environment server and IK/FK solvers to find a way around things in the way.
roslaunch reactive_trajectory_controller reactive_trajectory_controller_environment.launch
Now everything is prepared for loading and starting the controller for both arms
roslaunch reactive_trajectory_controller reactive_trajectory_controller.launch
The controller can be used under whatever application that moves the arms around for example the teleop in pr2_arm_teleop_skin