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Feature: motion_control_handles support user chosen reference orientation #71

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stefanscherzinger opened this issue Aug 17, 2022 · 0 comments
Open
4 tasks

Feature: motion_control_handles support user chosen reference orientation #71

stefanscherzinger opened this issue Aug 17, 2022 · 0 comments
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enhancement New feature or request ROS2

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@stefanscherzinger
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stefanscherzinger commented Aug 17, 2022 •
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Goal

The cartesian_controller_handles should let users specify the reference frame for the motion increments. Currently, commanded motion is relative to the specified end_effector_link frame

Steps

  • Revise old branches. I think I partially implemented this somewhere.
  • Implement this feature
  • Test this feature
  • Document this feature
@stefanscherzinger stefanscherzinger added the enhancement New feature or request label Aug 17, 2022
@stefanscherzinger stefanscherzinger mentioned this issue Aug 17, 2022
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@stefanscherzinger stefanscherzinger changed the title Feature: Motion control handles support user chosen reference orientation Feature: motion_control_handles support user chosen reference orientation Aug 17, 2022
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enhancement New feature or request ROS2
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