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ros2_control: Feedback from subsequent controller #6

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dmronga opened this issue Sep 6, 2023 · 0 comments

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dmronga commented Sep 6, 2023

Sending feedback from a controller to the previous controller (as required in case of e.g., Cartesian pose control) seems not possible, the only feedback that is possible comes from the hardware interfaces, which are on joint level.
Right now, workaround by using topics, which is not realtime
Maybe write a custom hardware interface?

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