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disappointmentPose

General description

Module that sets the robot R1 in a predefined pose.

This module has been designed to perform the final motion of the the robot at the end of a failed search.

Usage:

When the module is launched, an input port is opened (default name: /disappointmentPose/input:i). When this port receives any input, the robot assumes a predefined pose of the arms and of the head.

The pose is defined in a .ini file (default file name disappointmentPose.ini), where you can find different config groups some named NOT ACTIVE, and at least one named ACTIVE. In these groups you can find the values for each dof of the arms and the head, related to a certain pose. You can define how many poses you desire, but just the first ACTIVE group will be used for the motion of the robot.