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augmented_robot_controllers

This repo contains the augmented_controllers plugins that extend the capabilites of the controllers that exist in this repo https://github.com/KavrakiLab/robot_controllers

Currently The following augmented controllers have been implemented :

  1. CartesianTwistAvoidController.

CartesianTwistAvoidController

It extends the CartesianTwistController using the MoveIt planning_scence to check for self-collision in realtime. To use this plugin you have to edit in the defaults_controller.yaml the following line :

cartesian_twist:
   type: robot_controllers/CartesianTwistController"

to

cartesian_twist:
   type: "augmented_robot_controllers/CartesianTwistAvoidController"