Local control using frame_id field of velocity ref message
Closed this issue · 2 comments
alaurenzi commented
On latest devel, local control can be performed by leveraging the header.frame_id field of the velocity reference message. This simplifies user code who doesn't have to manually rotate the references.
This can be implemented inside the Joystick class.
alaurenzi commented
Tentative implementation on new branch local_ctrl_refactor, needs testing.
As an advantage, twist rotation is performed inside the solver, avoiding TFs issues.
@liesrock @EnricoMingo
alaurenzi commented
Tested and ok