✨ Features
New option for impedance control class that can be used as a launch argument. For example:
trajectory_tracking = Node(
package = 'serial_link_action_server',
executable = 'trajectory_tracking_server',
name = 'trajectory_tracking_server',
output = 'screen',
parameters = [os.path.join(this_directory, 'config/control_parameters.yaml')],
arguments = [urdf, # URDF location
'link7', # Endpoint name
'joint_command_relay', # Topic to publish joint commands to
'joint_states', # Joint state topic to subscribe to
'IMPEDANCE']
💥 Breaking Changes
The load_control_parameters() method in the utilities.hpp / utilities.cpp file now expects a vector:
parameters.jointPositionGains = node->declare_parameter<std::vector<double>>("joint_position_gains", std::vector<double>{});
parameters.jointVelocityGains = node->declare_parameter<std::vector<double>>("joint_velocity_gains", std::vector<double>{});
This is in line with version 2.0.0 of RobotLibrary.