Adding Sleep Stage or Publisher Stage

[mrceki]

Hi,

I am wondering if it is possible to add a sleep stage or some publisher stage to the task constructor. If it is possible, what is the best way to implement it?

Thank you in advance!

[rhaschke]

I guess you intend to pause execution, not planning. This is not possible by design: MTC stages's code is executed during planning only. The resulting trajectory is just passed to MoveIt's execution manager.
The same probably holds for a publisher stage. (Not sure what you want to publish.)

[mrceki]

Yes, I want to pause execution and I was actually aiming to adjust the control parameters of the manipulator by dynamic reconfigure between stages, but I couldn't find a way to do it. Do you have any suggestions?

[rhaschke]

Configure different controller parameter sets as different named controllers, which you can then refer to in a TrajectoryExecutionInfo message passed to Stage::setTrajectoryExecutionInfo

moveit_task_constructor/msgs/msg/TrajectoryExecutionInfo.msg

Line 2 in d5e1376

string[] controller_names

The listed controllers are then used to execute the trajectory generated by a particular stage.

[mrceki]

I meant, for example, an impedance controller, which has dynamic reconfigure capability and is capable of adjusting damping and stiffness dynamically. In general, what I want to do is adjust the stiffness and damping parameters between stages.

[rhaschke]

If you want to fiddle with parameters interactively, I suggest splitting trajectory execution manually.

[mrceki]

Thanks for your response!