set start_position as current_pos and make sure the joints with enabled torque#79
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onionsflying wants to merge 1 commit into
Open
set start_position as current_pos and make sure the joints with enabled torque#79onionsflying wants to merge 1 commit into
onionsflying wants to merge 1 commit into
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I designed a trajectory by myself instead of MoveIt!. And I noticed the big position error during the motion. So I thought we should set start_position as current_pos to reduce the accumulated error.
Then I found a problem: If man doesn't set torque as enabled until a trajectory action is active, the velocity can be huge when the torque is set as enabled. So I added some code to set torque as enabled before the motion begins.