IK Arm Controller Node #582
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Handled in the new sim branch |
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Summary
Closes #581
Implement the
arm_controller.cppnode.In the simulator, this will sit between an IK publisher and the simulator arm bridge.
On the real rover, this will receive IK messages from teleop, process them into individual motor position commands, and send them to the arm bridge (where they will be turned into CAN messages).
Did you add documentation to the wiki?
Yes/No (If not explain why not)
How was this code tested?
Summarize how you tested this code. Your objective here is to prove to the reviewers that this code actually works without them having to run it themselves. It is often helpful to include screenshots, tables, graphs, and/or a short write-up of testing procedures. Results can be either from sim, the robot, or both depending on what you think is sufficient for the feature you added.
Did you test this in sim?
Yes/No
Did you test this on the rover?
Yes/No
Did you add unit tests?
Yes/No (If not explain why not)