From 3d93dd422670e35e2370285d494dca35872f95cd Mon Sep 17 00:00:00 2001
From: Felix Mauch <mauch@fzi.de>
Date: Mon, 1 Apr 2019 10:07:18 +0200
Subject: [PATCH] manually set corrections to 0

---
 include/ur_rtde_driver/calibration.h | 2 ++
 src/calibration.cpp                  | 2 ++
 2 files changed, 4 insertions(+)

diff --git a/include/ur_rtde_driver/calibration.h b/include/ur_rtde_driver/calibration.h
index 31504bf..9f228f6 100644
--- a/include/ur_rtde_driver/calibration.h
+++ b/include/ur_rtde_driver/calibration.h
@@ -77,6 +77,8 @@ struct DHRobot
    */
   DHRobot(const std::vector<DHSegment>& segments)
   {
+    delta_theta_correction2_ = 0;
+    delta_theta_correction3_ = 0;
   }
 
   DHRobot() = default;
diff --git a/src/calibration.cpp b/src/calibration.cpp
index 24844b0..d6d1735 100644
--- a/src/calibration.cpp
+++ b/src/calibration.cpp
@@ -26,6 +26,8 @@ Calibration::~Calibration()
 void Calibration::correctChain()
 {
   robot_parameters_corrected_ = robot_parameters_;
+  robot_parameters_corrected_.delta_theta_correction2_ = 0.0;
+  robot_parameters_corrected_.delta_theta_correction3_ = 0.0;
   correctAxis(1);
   correctAxis(2);
 }