ros_pybullet_interface
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cmower
ROS-PyBullet Interface.
@joaomoura24 and I have noticed that there is a lot of joint information being published to the `/joint_states` topic that is not useful as it does not correspond to mobile...
I have re-wrote the Touch X driver in the RViM repo with a completely new (clean) interface. The human interaction demo will now fail.
In the `nsl` branch, that will be merged later, I have exposed mouse/keyboard events from PyBullet to ROS. Therefore, the dependency on the [keyboard](http://wiki.ros.org/keyboard) package is redundant. Examples that will...
The function responsible for updating the trajectory of the receiding horizon or/and MPC needs to be further tested. Also, thread safe read/write/delete operation need be investigated.. At the moment it...
There are some services that make more sense as [actions](http://wiki.ros.org/actionlib). Services that could potentially be actions: - [move_to_joint_state](https://github.com/cmower/ros_pybullet_interface/blob/2680c302114ac84f40b8946aa77ff1e7e9f81f84/ros_pybullet_interface/src/rpbi/pybullet_robot.py#L36) - [move_to_initial_joint_state](https://github.com/cmower/ros_pybullet_interface/blob/2680c302114ac84f40b8946aa77ff1e7e9f81f84/ros_pybullet_interface/src/rpbi/pybullet_robot.py#L37) - [move_to_eff_state](https://github.com/cmower/ros_pybullet_interface/blob/2680c302114ac84f40b8946aa77ff1e7e9f81f84/ros_pybullet_interface/src/rpbi/pybullet_robot.py#L38) @joaomoura24 I remember you had looked into actions...
The service is initialized here: https://github.com/cmower/ros_pybullet_interface/blob/2680c302114ac84f40b8946aa77ff1e7e9f81f84/ros_pybullet_interface/src/rpbi/pybullet_robot.py#L37 This uses the [ResetJointState](https://github.com/cmower/ros_pybullet_interface/blob/main/ros_pybullet_interface/srv/ResetJointState.srv) service template. However, the `joint_state` in the service request is ignored (the initial joint state is retrieved from the configuration...
See [here](https://github.com/cmower/ros_pybullet_interface/blob/9db41e2bff26b072a247610a4990d5f353a369fc/ros_pybullet_interface/src/rpbi/pybullet_urdf.py#L7). The `URDF` class needs revamping.
It would be very convenient to have all the packages available in the ROS apt repo (via bloom). This requires: - [ ] install everything properly so the packages can...
Add todo's below as necessary that need to be completed before making `ros_pybullet_interface` public. - [ ] Verify code of Theo/Lei/Joao runs in re-vamped branch - [x] ~~Merge `chris-revamp` into...