iTaSC FAQ

  • Warnings at start-up: the following warnings can be ignored
    • Lowering priority: if you're running on a non-real-time system, the priority will be reduced from RT to OTHER
    • Conversion from float64[] to eigen_vector
    • Port 'x' of 'y' and port 'z' of 'a' are already connected but (probably) not to each other: multiple ports connected to one port gives a warning, while this is common functionality
    • 'addPort' Pose_ee_base: name already in use. Disconnecting and replacing previous port with new one: it won't ;)
  • I get [EMERGENCY]
    • This means that an error is caught by the state machine
    • Have a look at the first [EMERGENCY] message and the line before that to figure out what went wrong
  • Where do I define my Virtual Kinematic Chain?
    • in your VKC_taskname component, eg. VKC_cartesian_motion (in the cartesian_motion/src package)
  • Where do I put the feature coordinates in the code?
    • They are implicit in your VKC definition, by defining feature coordinates and the degrees of freedom between them, you define the order in which the degrees of freedom are traversed, from one object frame to another. (cfr. going from one point to another, and you can only go in a direction once)
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