Make simulation work with double mallet setup #277
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…x/simulation-double-mallet
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Update: 2nd mallet now appears in the simulation, but is not controlled yet (dangles freely). The issue was lack of |
Flova
reviewed
Oct 14, 2023
marimbabot_planning/src/planning.cpp
Outdated
| @@ -33,7 +33,7 @@ Planning::Planning(const std::string planning_group) : | |||
| } | |||
| }; | |||
| // Create timer that checks if an action is active and moves back to the home position if not | |||
| auto timer = nh_.createTimer(ros::Duration(0.5), timer_callback); | |||
| auto timer = nh_.createTimer(ros::Duration(1000.0), timer_callback); | |||
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This should not be on the main, as it deactivates the homing
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Whats the state of this? Also regarding the simulation video @iibrahimli |
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Ping @iibrahimli |
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Planning to finish sim video & paper section today @Flova. Re: homing: yes my bad was testing something in sim and forgot to revert, will fix before merging this PR today |
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Simulation demo video: https://cloud.mafiasi.de/s/9SiANFARrNm2F6W |
iibrahimli
commented
Oct 16, 2023
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This is unused in the simulation btw
Flova
approved these changes
Oct 16, 2023
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Update the code so that simulation can be run using the double flex mallet
Currently there are a few problems:
These are probably related.