Issue Description:
This doesn’t have to be done now, but I think it may just happen in the future. Your MoveArmActionClient currently does three things, it has convenience functions that wrap move arm calls, it loads some Cartesian waypoints, and it spins a ros node. I think the first wrapper part is generally useful, given that the move arm action server can’t figure out tf, so there may be an opportunity to pull this functionality out into a separate class.
Actions to be taken:
Will identify functions that are generic (and useful) enough to be wrapped into their own separate class/classes.
Will add this class to industrial utils or any other ros industrial package where it makes sense.
Issue Description:
This doesn’t have to be done now, but I think it may just happen in the future. Your MoveArmActionClient currently does three things, it has convenience functions that wrap move arm calls, it loads some Cartesian waypoints, and it spins a ros node. I think the first wrapper part is generally useful, given that the move arm action server can’t figure out tf, so there may be an opportunity to pull this functionality out into a separate class.
Actions to be taken:
Will identify functions that are generic (and useful) enough to be wrapped into their own separate class/classes.
Will add this class to industrial utils or any other ros industrial package where it makes sense.