Add mode of control in talos_control_manager to check the corresponding limits. #22
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Because the talos-control-manager expects a state vector of size n+6 (freeflyer) In torque it is not welcomed, so add a way to handle this problem by adding the freeflyer at the beginning of the command. Then set a particular command for the freeflyer.
Control mode = position, velocity, torque, freeflyer (no control) The velocities limits cannot be checked because the robotUtils lacks of them. Can plug signal q_predicted while torque control to check the position limits. And likely can plug tau_predicted while position control to check the torque limits.
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The control modes are: position, velocity, torque, freeflyer (no control)
The velocities limits cannot be checked because the robotUtils object lacks of them.
Can plug signal q_predicted while torque control to check the position limits.
And likely can plug tau_predicted while position control to check the torque limits.