Hi,
I am starting to implement a visual servoing task and I am trying to understand the difference between the SmartServo classes and the FRI Command mode.
My goal is to use a laser rangefinder mounted on the robot to keep it at a fixed distance from a surface. The robot would move along the surface and change its altitude (i.e. position along the z-axis) based on the surface irregularities.
The overall solution would be to use FRI to transfer data in and out of the controller while using the SmartServo motion classes to change the robot trajectory. However, the FRI package has a Command mode that can also be used to change the robot path.
So, the question: Why the different methods to accomplish the same task? I am sure there are valid differences and trade-offs to be noted but there are not clear to me.