Hi, looking through the code, uarm_core.py in particular, I see a lot of use of the parameter server to store the angles and positions of the servos on the arm. These are then accessed by the report_* scripts which then publish the same position and angle data out to the appropriate topics.
Normally, the parameter server is used for getting/setting command-line options and passing parameters into a launch file. I'm curious why you're using it this way rather than publishing straight to the relevant topics from within uarm_core.py.
Also, please consider removing the interactive functionality in the various scripts. It makes it difficult to start them as part of a launch file.
Thanks!
Hi, looking through the code, uarm_core.py in particular, I see a lot of use of the parameter server to store the angles and positions of the servos on the arm. These are then accessed by the report_* scripts which then publish the same position and angle data out to the appropriate topics.
Normally, the parameter server is used for getting/setting command-line options and passing parameters into a launch file. I'm curious why you're using it this way rather than publishing straight to the relevant topics from within uarm_core.py.
Also, please consider removing the interactive functionality in the various scripts. It makes it difficult to start them as part of a launch file.
Thanks!