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