This package contains the controller for the little helper arm. The arm controller can be executed as follows

ros2 run arm_controller arm_controller "script_file_name"

Where script_file_name is defines the sequence of controls that the controller will execute. Right now the controller is able to execute the following

MP: Execute a motion planning path sent by the arm planner

VS: Execute a visual servoing path that goes to a target sent by the object detection module.

GRASP: Close the grasper.

I will shortly add the following options

SLEEP

UNGRASP

Examples of script files are found in

src/arm_controller/scripts/

The arm controller requires the following packages

ur_driver: recieves and executes paths

arm_planner: Sends motion plans for the arm

object_detection: Sends target positions used by VS

lh_interfaces: Defines messages used by object detection