Task hierarchies
The example can be found in tutorials/kuka_iiwa/cart_pos_ctrl_hls_hierarchies.cpp, documentation can be found here. To run the tutorial, type
cd build/tutorials/kuka_iiwa
./cart_pos_ctrl_hls_hierarchies
Implementation of Task Hierarchies
Fixed joint 5 position on highest priority:
Fixed joint 5 position on lower priority:
Please note that the visualization has been done with an external tool and is not part of ARC-OPT. If you want to visualize your system, please refer to the ROS 2 tutorials, which use rviz as visualization.