Control API functions description¶

Launching the controllers¶

This is done by simply using a launch file once the ROS environment is set.
These launch files are located in the launch directory of the CM2C package.

So if kukarm is operating panda_1 run:
roslaunch admittance_joint_trajectory_controller panda_1.launch

and this on truyere:
roslaunch admittance_joint_trajectory_controller panda_2.launch

Important: These launch files are not identical, and the panda_1.launch must be launched before the panda_2.launch.
Once the controllers are running there is nothing else to do regarding the control side and you can launch the planning stack and refer to the planning API.

Utilities and control API outside of the Cooperative Manipulation scope¶