This repository was archived by the owner on Apr 10, 2025. It is now read-only.
This repository was archived by the owner on Apr 10, 2025. It is now read-only.
[FEATURE]: Implement manipulator limit ROS interface #39
Description
Feature Type
Adding new functionality to the Alpha driver
Problem Description
Implement configurations that modify the configured Alpha limits on startup. The current interface handles this using only MoveIt; however, if the other control interfaces are used, then there is no way (currently) to modify the manipulator's limits.
Feature Description
Implement a driver endpoint that configures the Reach Alpha limits. This endpoint should be used by the alpha_hardware on_init() method to configure the endpoints using parameters from either the launch configuration or a configuration file.
Alternative Solutions
No response
Additional Context
No response