Obbart/universal_robots_ros_driver
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Changed KinematicsInfo to match reality

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In the docs, the message has a length of 222 bytes,
while the robots send 225 bytes of data.

As parsing goes correct, they have to be at the end of the message,
we assume that the calibration_data field in fact has the type of a 4-byte
integer.
This commit is contained in:
Felix Mauch
2019-04-10 08:30:50 +02:00
parent 38fc393f53
commit 4dc4cc0fb0
2 changed files with 14 additions and 3 deletions
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8
src/primary/robot_state/kinematics_info.cpp
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@@ -34,6 +34,12 @@ bool KinematicsInfo::parseWith(comm::BinParser& bp)
std::string KinematicsInfo::toString() const
{
std::stringstream os;
os << "checksum: [";
for (size_t i = 0; i < checksum_.size(); ++i)
{
os << checksum_[i] << " ";
}
os << "]" << std::endl;
os << "dh_theta: [";
for (size_t i = 0; i < dh_theta_.size(); ++i)
{
@@ -62,6 +68,8 @@ std::string KinematicsInfo::toString() const
}
os << "]" << std::endl;
os << "calibration_status: " << calibration_status_ << std::endl;
return os.str();
}
} // namespace primary_interface