Movit Servoing scripts for teleoperating spot
runs both on ubuntu 18.04 for melodic or 20.04 for noetic
pose_tracking_servo.cpp looks for target_pose and moves to it pose_tracking_settings.yaml is the configuration file for the pids ur_simulated_config.yaml is the configuration file for a UR5 (we will use the spot but we have it just for reference) pose_tracking.launch is the launch file
in theory you just need to change the parameters in this file to suit your robot make sure these two are both at the frame of the finger (that you want to move to target pose) (check two lines after ## Other frames)