332 demo 25 november

[geurto]

Description

This PR creates a new PredefinedConfiguration, which contains a Panther platform and a Franka arm. The Franka arm runs an instance of franka_example_controllers/CartesianVelocityExampleController, which moves the arm forwards and backwards slowly. Note that this controller only works on hardware, not in simulation.

Fixes: #332

Testing

• Tested configuration on hardware
• Had other team member test configuration on hardware

Documentation

• I have updated the documentation (if necessary)

Additional Notes

Any relevant screenshots, logs, or context.

[rosalievanark]

Looks good, no further comments on the code!

[Jelmerdw]

I know that this only works on hardware. We also had to switch from joint_impedance_example_controller to cartesian_velocity_example_controller, since the former does not work in namespaces.

We could consider to use our default joint_trajectory_controller for the demo and send a continuous repeating joint trajectory to the arm. This makes us independent of the Franka example controllers (so the demo could also work with our UR arm in the future). Furthermore, we could also test it in simulation.

To achieve this, we would need to launch a node that continuously publishes a joint trajectory when the demo is launched.

What do you think of this?

[Jelmerdw]

How easy should it be to launch this demo? I know that we will let another team member test it. However, to launch this, you still need to have a device and the knowledge to SSH into the Panther/Lynx computer and launch this demo.

If other team members should be able to this, we might also require instructions about this?
Another option (maybe for the future) would be that the Panther/Lynx have a controller device (like a touchscreen) were someone can select a configuration to launch. For example this demo configuration.

This would make it possible to start the demo without any knowledge about the software.