Obbart/universal_robots_ros_driver
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replace tcp_accuracy_checker with hash comparison

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This closes #34
This commit is contained in:
Felix Mauch
2019-06-14 14:35:50 +02:00
parent 34eb8dcf08
commit 7e6b203b67
13 changed files with 133 additions and 106 deletions
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1
ur_calibration/src/calibration_consumer.cpp
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@@ -50,6 +50,7 @@ bool CalibrationConsumer::consume(
calibration.correctChain();
calibration_parameters_ = calibration.toYaml();
calibration_parameters_["kinematics"]["hash"] = kin_info->toHash();
calibrated_ = true;
}
return true;

2
ur_calibration/src/calibration_correction.cpp
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@@ -46,8 +46,6 @@ using namespace ur_driver;
using namespace primary_interface;
using namespace ur_calibration;
static const int UR_PRIMARY_PORT = 30001;
class ParamaterMissingException : public ros::Exception
{
public: