Improve compatibility of CartesianComplianceController with Moveit
#41
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We now run the adapter's update in a separate thread. This allows us to start/stop connected joint_trajectory_controllers even when the adapter is not running.
This better explains our hard-coded control frequency for the adapter thread.
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Goal
Users can plan robot end-effector motion with Moveit and execute that with Cartesian compliance in contact.
Approach
Moveit's output is a
FollowJointTrajectoryGoalthat best integrates with thejoint_trajectory_controller. The cartesian_controllers repository already provides aJointControllerAdapterthat allows to connect such ajoint_trajectory_controllerand turn the joint-based trajectory into Cartesian targets via robot forward kinematics. For motion that is sufficiently away from robot singularities, this could provide a suitable approach combine motion planning with compliance.Steps
joint_to_cartesian_controllerpackage with rqtResolves #18 , resolves #28