Added a Joint Trajectory Action Server to enable position mode and Stretch Web Teleop support in Stretch Simulation #197
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…Enabled position mode in Stretch Mujoco Driver because it works now.
…er. All camera topics now use BEST_EFFORT to match WebTeleop.
…ons on how to launch Web Teleop.
…tretch Web Teleop expects, without re-mapping
…cks up the tool name correctly
… be broadcast correctly, making transform lookups fail in MoveToGrasp - this has been replaced with a wait_for_transform call to a tf buffer. A U16C1 (unsigned int, 1 channel) compressed depth map in millimeters is now published on the depth/compressed topics.
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… for the default mujoco open world scene
…port MUJOCO_GL=egl to tell mujoco to use the gpu
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Implemented a simple Trajectory Action Server that
All the topics that are subscribed to by Stretch Web Teleop are now published, for example /joint_limits, /tool, /is_homed
The Runstop button on the Web Teleop UI changes the robot mode to a run_stop mode and doesn't allow the user to send commands.
All the camera and sensor topics use Best Effort QoS.
Cameras now use the image resolutions that match the Web Teleop on the real robot (requires Updated camera sensor resolution and FOV from their specs and focal from calibrated values stretch_mujoco#54
)
The user can use the Map widget:
Please use all the StretchMujoco PR's mentioned in #194 as well as hello-robot/stretch_mujoco#53 when testing this PR. Thank you!