Obbart/RoboGlue_ROS
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Prima implementazione dell'homing, i giunti vanno tutti a 0

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Emanuele
2019-10-23 15:43:10 +02:00
parent 192d694458
commit 6f1f4820a9
5 changed files with 34 additions and 15 deletions
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src/roboglue_ros/include/roboglue_ros/roboglue_utils.h
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@@ -97,7 +97,7 @@ typedef struct {
robot_model::RobotModelConstPtr kine_model;
robot_state::RobotStatePtr kine_state;
std::vector<std::string> joint_names;
std::map<double> joint_homes;
std::map<std::string, double> joint_homes;
} robotData;
typedef struct {
@@ -112,4 +112,5 @@ geometry_msgs::TwistStamped lockTwistPose(geometry_msgs::TwistStamped, geometry_
geometry_msgs::PoseStamped twist2Pose(geometry_msgs::TwistStamped);
double e3dist(geometry_msgs::Twist, geometry_msgs::Twist);
double rad2deg(double ang);
double deg2rad(double ang);
bool checkJointJump(moveit_msgs::RobotTrajectoryPtr, double);