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Added actionlib interface to forward_joint_group_command_controller #569

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Added actionlib interface to forward_joint_group_command_controller #569

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@egordon egordon commented Jun 5, 2021 •
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In service of #568

Prerequisite: ros-controls/control_msgs#60

Tested via velocity_controllers/JointGroupVelocityController on Kinova JACO2

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egordon commented Jun 10, 2021

Test code (Python 3):
test_JointGroupCommandAction.txt

Tested behaviors:

  • actionlib velocity commands (0.1, -0.1) with timeouts (0, 1, 5, 15)
  • Preempted actionlib goal using the /command subscriber interface during goal execution

@egordon egordon marked this pull request as ready for review June 10, 2021 22:41
@egordon egordon mentioned this pull request Aug 12, 2021
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@egordon egordon mentioned this pull request Aug 12, 2021
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@egordon egordon mentioned this pull request Aug 24, 2021
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