This code implements a remote center of motion with homography based visual servo, see below
Two main nodes are provided
- h_rcm_vs_server_node has a HRCMVSActionServer that implements a RCMActionServer with task functions designed specifically for homography-based control. It sends joint goals to the robot. It reads in parameters from rcm_params.yml
- h_rcm_vs_client_node has a HRCMVSActionClient that sends goals to the HRCMVSActionServer. It subscribes to
visual_servo/twist, the desired twist velocity in the camera frame, and torcm/ptrocar, the desired trocar position
The provided nodes execute any desired homography, as generated from h_vs. Some examples with launch files are provided in a the sample workspace h_rcm_vs_ws