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Short term roadmap

In the short term there are no major features planned for the pr2_mechanism stack.

Long term roadmap

This section summarizes some of the ideas we have for the pr2_mechanism stack. These ideas are not always very concrete, and many of them may never make it into real code. For a detailed list of features that will make it into the next release, check out the changelist page.

Inter-controller communication proposal

Resource management

The controller manager could keep track of which controllers are controller which joints, to avoid conflicts.

Actuator model

Filtered velocity output

Model encoders better to improve velocity measurement

Improve limits

Check trac for outstanding issues and roadmap.

Redesign of pr2 mechanism model

The pr2 mechanism model package has been modified many times, and has become kind of messy. It would definitely benefit from a redesign.


2022-05-28 12:53