sm3304love

How to get joint torque of robot?

1

When I subscribe to the /joint_states topic, I see the effort data. However, I'm not sure whether this data represents motor current or torque. Can you Please let me know...

Can I use the casadi::MX type in a logical conditions in an if-else statement?

1

hello. I want to apply different algorithms depending on the value of data of type casadi::MX. My code is below. ``` casadi::MX distanceBetweenLSS(const LSS &lss1, const LSS &lss2) { using...

Are there any plans to support other NLP solvers?

1

@nicolapiccinelli I am trying to implement motion planning where the mobile manipulator avoids obstacles based on nmpc. In general, if there are no obstacles, planning speed is good(approximately 0.03 sec)....

How to use this plugin for my own xacro file?

5

hello. I would like to use your plugin to use 4 mecanum wheeled robot in gazebo. However, ththat the odom topic is invisible. Are there any other works I should...

When calculating a trajectory, is it possible to set the number of waypoints or specify a time interval?

1

Hello, I am implementing a hybrid planner using TrajOpt as the global planner and MPC as the local planner. I would like to increase the number of waypoints in the...

Can I add constraints in trajopt?

3

Hello, I want to use TrajOpt in my project and have some questions. I would like to know how I can add constraints, such as joint velocity and Cartesian velocity,...

Couldn't load kinematics.yaml when using hybrid_planning_demo_node.cpp

1

### Description Overview of your issue here. ### Your environment * ROS Distro: Iron * OS Version: Ubuntu 22.04 * Source build * If source, which branch? : iron ###...