Merge branch 'master' of ssh://gitlab.iri.upc.edu:2201/lfreixas/iri_htc_vive_tracker

Readme.md

@@ -26,4 +26,19 @@ Check the launch file [example](launch/publish_wam_chaperone_link.launch)
 
 ![htcvivetrackerROS-Page-2](/uploads/b54f6fac94401873783ee96495b84694/htcvivetrackerROS-Page-2.jpg)
 
-![htcvivetrackerROS](/uploads/011da2e5568b6ee11056e188056c98d3/htcvivetrackerROS.jpg)-->
\ No newline at end of file
+![htcvivetrackerROS](/uploads/011da2e5568b6ee11056e188056c98d3/htcvivetrackerROS.jpg)-->
+
+
+# WAM follows tracker
+
+## Dependencies
+* iri_wam_dmp_tracker
+* iri_tf_to_pose
+
+## Procedure
+
+To test the WAM following tracker demo do the following :
+
+    roslaunch iri_htc_vive_tracker wam_follow_tracker.launch
+    roslaunch iri_wam_bringup iri_wam_bringup.launch
+    roslaunch iri_wam_dmp_tracker iri_wam_dmp_tracker.launch
\ No newline at end of file

launch/publish_wam_chaperone_link.launch

@@ -4,16 +4,15 @@
         <node pkg="tf"
               type="static_transform_publisher"
               name="htcvive"
-              args="1.070148243624660
-		            0.100652703467688
-            		-1.062001187589772
-            
-            		0.002700182569860
-            		0.013148482534647
-            		-0.999902817161034
-            		0.003765986531232
-            	 	iri_wam_link_base 
-            		chaperone 300" >
+              args="1.070148243624660 
+            0.100652703467688
+            -1.062001187589772
+            0.002700182569860
+            0.013148482534647
+            -0.999902817161034
+            0.003765986531232
+            iri_wam_link_base 
+            chaperone 300" >
         </node>
 	
 	<node pkg="iri_htc_vive_tracker"