Starting to do MOVEIT. Testing if MSiA isn't in the way.
Ready to test MOVEIT.
Look at moveit launch files and stuff.
Updated launch file to include moveit nodes that I think are necessary to load the URDF and SRDF.
Set up baxter_controller.py to start the joint trajectory action server which makes everything work. Woohoo, need to make other moves work with the 'robot' group or whatever its called and also start incorporating boundaries.
Test both arms group. Then put everything in a moveit command. Its a
concatenated dictionary, at least for now. Not sure if that will work
but I think it will.
Get rid of all the joint angle nonsense, fix gripper stuff clicking. That method for moving both arms works.
Need to test, then implement in crane and mimic games. Then we can start incorporating objects.
Need to speed up these trajectories. Way too slow.
Fixed a bug use that guys rescaling code
Updated README with more things to do.
Merge branch 'master' of https://github.com/adb421/nxr_baxter_demo_package
Merged with changes from upstream.
Run test_plan_speeds with rosrun, try modifying the joint limits. Then we will need to incorporate trajectory_speed_up in everything.
Testing done for test_plan_speeds, clearly joint limits affect the trajectory times. We need to check if they are up to date.
Pulled in latest merge.
Crane.py and Mimic.py now are moveit based. Everything should be moving via moveit, need to make the trajectories faster by changing joint_limits.yaml or rescaling trajectories, then incorporate objects into the environment and see what happens.
Added moveit stuff to rescale trajectories while waiting for Rethink to respond to my email about joint_limits.yaml
Slight update to README
Cleaned up README more