Obbart/universal_robots_ros_driver
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manually set corrections to 0

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This commit is contained in:
Felix Mauch
2019-04-01 10:07:18 +02:00
parent 8d3b787b27
commit 3d93dd4226
2 changed files with 4 additions and 0 deletions
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2
include/ur_rtde_driver/calibration.h
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@@ -77,6 +77,8 @@ struct DHRobot
*/ */
DHRobot(const std::vector<DHSegment>& segments) DHRobot(const std::vector<DHSegment>& segments)
{ {
delta_theta_correction2_ = 0;
delta_theta_correction3_ = 0;
} }
DHRobot() = default; DHRobot() = default;

2
src/calibration.cpp
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@@ -26,6 +26,8 @@ Calibration::~Calibration()
void Calibration::correctChain() void Calibration::correctChain()
{ {
robot_parameters_corrected_ = robot_parameters_; robot_parameters_corrected_ = robot_parameters_;
robot_parameters_corrected_.delta_theta_correction2_ = 0.0;
robot_parameters_corrected_.delta_theta_correction3_ = 0.0;
correctAxis(1); correctAxis(1);
correctAxis(2); correctAxis(2);
} }