This repo is as adaptaion of the PR2 ROS controller plugin codebase of https://github.com/cbfinn/gps to a general ROS control plugin code to be used with any dual arm robot such as the YuMi robot.
Caution: The code is not yet cleaned up.
- A robot specific driver is required.
- An external ROS node is expected to communicate with the plugin ROS node.