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API review

Proposer: Stuart Glaser

(All these links are to the OLD doxygen location.) This is a review of the ROS APIs of the following controllers ONLY:

Present at review:

Question / concerns / comments

Enter your thoughts on the API and any questions / concerns you have here. Please sign your name. Anything you want to address in the API review should be marked down here before the start of the meeting.

gains:
  r_shoulder_pan_joint:
    ...
  r_arm:
    kp
    kv
    kpi:
    kpi_clamp:
    that other clamp:

joints:
  r_shoulder_pan_joint:
    gains:
      kp:
      kv:
      kpi:
      (No: kvi it's actually kp)
      kpi_clamp:
      kp_clamp, kvi_clamp???  So, it needs some name, but we're not sure what it is

r_shoulder_velocity:
  type: !JointVelocityController
  joint: r_shoulder_pan_joint (and the gains are found off this, somehow)
  (gains: r_shoulder_pan_joint_gains)

to find the gains, searchparam for joints

r_shoulder_position:
  type: !JointPositionController
  joint: r_shoulder_pan_joint (and it picks out the position gains properly)

r_arm_cartesian_pose:
  type: !CartesianPoseController
  root_name: torso_lift_link
  tip_name: r_hand

Meeting agenda

To be filled out by proposer based on comments gathered during API review period

Conclusion

Package status change mark change manifest)



2024-06-22 13:15