Obbart/RoboGlue_ROS
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Homing funzionante, da perfezionare.

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Tutte le posizioni di default fanno parte del file .yaml
This commit is contained in:
Emanuele
2019-10-23 17:37:46 +02:00
parent c799003f93
commit cee517fd2c
3 changed files with 25 additions and 28 deletions
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3
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<std::string, double> joint_homes;
std::map<std::string, float> joint_homes;
} robotData;
typedef struct {
@@ -110,6 +110,7 @@ trajectory_msgs::JointTrajectory jstr2Joint(nlohmann::json);
void getLockInfo(positionData*, nlohmann::json);
geometry_msgs::TwistStamped lockTwistPose(geometry_msgs::TwistStamped, geometry_msgs::TwistStamped, positionData);
geometry_msgs::PoseStamped twist2Pose(geometry_msgs::TwistStamped);
std::map<std::string, double> floatMap2doubleMap(std::map<std::string,float>);
double e3dist(geometry_msgs::Twist, geometry_msgs::Twist);
double rad2deg(double ang);
double deg2rad(double ang);