Local api fix #91
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Local api fix #91
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Hi @EnricoMingo |
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Do you suggest putting these frag directly in the reference setters methods? |
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This pull request add the possiblity to set local velocity references for Cartesian task.
While this was already possible using the topic by changing the
frame_identry of the message (as suggested by @alaurenzi), a method for the C++/Python API was missing.This is now done through a flag which is also recognized by the cartesian tasks properties. The property is called
use_local_velocity, it can be set through service, in theyamlfile, or via C++/Python API. Is set toTrue, theframe_idis ignored when using the topic (maybe we can add a ROS info if needed)