Sometime I'd like the arm to hold a pose and lock the joints.
So it would be nice if a service call for un_relax_arm was exposed,
just as there is one for relax_arm. Nitch use case I suppose.
rospy.Service('relax_arm', Empty, self._relax_arm)
+ rospy.Service('un_relax_arm', Empty, self._un_relax_arm)Although, in my quick attempt at exposing un_relax_arm as a service and calling the private function, it looks like still doesn't lock the arm to the same extent as if I finished or interrupted the tuck_arm interface. Also setting the ControllerState to STOPPED or all _gravity_comp_controllers doesn't have the same effect.
Sometime I'd like the arm to hold a pose and lock the joints.
So it would be nice if a service call for
un_relax_armwas exposed,just as there is one for
relax_arm. Nitch use case I suppose.rospy.Service('relax_arm', Empty, self._relax_arm) + rospy.Service('un_relax_arm', Empty, self._un_relax_arm)Although, in my quick attempt at exposing un_relax_arm as a service and calling the private function, it looks like still doesn't lock the arm to the same extent as if I finished or interrupted the tuck_arm interface. Also setting the
ControllerStatetoSTOPPEDor all_gravity_comp_controllersdoesn't have the same effect.