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Hello everyone, So I wanted to basically join the functions of the scripts joint_position_joystick.py and go_to_cartesian_pose.py I want to teleoperate the robot using a cartesian coordinate system and not joint by joint. I don't know if anyone has had previous experience developing such a controller but all tips and suggestions are greatly appreciated. At the moment my question is: can one use the rospy.init_node() for 2 different nodes in the same python script? As each file has a node to make them work (one with the joystick capabilities and the other establishing the cartesian coordinate system) Thanks in before hand. Sincerely, Jorge