Chris Mower

Currently, the `EffBox` task map can only be used as an inequality constraint. It should be extended to be a cost-term also.

Simple feature addition that publishes button up and down events to `std_msgs/Int32MultiArray` topics.

In Octave, `tb_optparse.m` throws an error because `verLessThan` is not implemented - it is a MATLAB function. This fix checks if the user is running Octave, and if so avoids...

Adding figure eight example and python tools package

3

Adding a simple figure of eight example. Don't merge yet, todo: - [x] Debug and push `figure_eight_node.py` example script - [x] Update `lbr_examples/README.md` - [x] Test on real robot

When launching the bringup, the default controller is `position_trajectory_controller`, i.e. https://github.com/KCL-BMEIS/lbr_fri_ros2_stack/blob/c1aadf3854830c8e54966238c17ca0047ef23501/lbr_bringup/launch/lbr_bringup.launch.py#L62-L66 I suggest the default controller should be `none`, and it should be left as a user option. Also, the...

Todo - [ ] Update examples readme - [ ] Clean code

Commanding rate issue

3

I have noticed some strange issues with publishing commands on the real robot. I am running the admittance controller example (I have tested with both the current Kinpy implementation and...

Build URDF at compile time

1

It's useful to have access to URDF file generated from the xacro description (e.g. [PyBullet doesn't support loading from xacro, only URDF](https://docs.google.com/document/d/10sXEhzFRSnvFcl3XxNGhnD4N2SedqwdAvK3dsihxVUA/edit#heading=h.sbnykoneq1me)), in [ROS1 this is possible](http://wiki.ros.org/xacro#Building_from_CMakeLists.txt). I assume it...

Issue with visualizer

4

I'm not sure when this happened, but the LBR model in the examples is messed up. From running other code, I am pretty much certain there is nothing wrong with...

Suggested feature: solve() should not return dictionary, rather it should return an object called Solution

2

Currently, the `solve()` method returns a dictionary containing the solution. I'm proposing here that we should implement a solution class that has the solution data packed inside but also comes...