Obbart/universal_robots_ros_driver
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Merge branch 'calibration_new'

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This introduces a separate tool for extracting calibration data from the robot
and generating a parameter file that can be used by the ur_description package
to generate a correct URDF model.
This commit is contained in:
Felix Mauch
2019-06-03 09:41:59 +02:00
parent 649f499499 db8bf458ee
commit b15a416d06
16 changed files with 1154 additions and 20 deletions
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10
ur_rtde_driver/src/primary/robot_state/kinematics_info.cpp
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@@ -15,6 +15,8 @@
#include "ur_rtde_driver/log.h"
#include "ur_rtde_driver/primary/robot_state/kinematics_info.h"
#include <iomanip>
namespace ur_driver
{
namespace primary_interface
@@ -43,28 +45,28 @@ std::string KinematicsInfo::toString() const
os << "dh_theta: [";
for (size_t i = 0; i < dh_theta_.size(); ++i)
{
os << dh_theta_[i] << " ";
os << std::setprecision(15) << dh_theta_[i] << " ";
}
os << "]" << std::endl;
os << "dh_a: [";
for (size_t i = 0; i < dh_a_.size(); ++i)
{
os << dh_a_[i] << " ";
os << std::setprecision(15) << dh_a_[i] << " ";
}
os << "]" << std::endl;
os << "dh_d: [";
for (size_t i = 0; i < dh_d_.size(); ++i)
{
os << dh_d_[i] << " ";
os << std::setprecision(15) << dh_d_[i] << " ";
}
os << "]" << std::endl;
os << "dh_alpha: [";
for (size_t i = 0; i < dh_alpha_.size(); ++i)
{
os << dh_alpha_[i] << " ";
os << std::setprecision(15) << dh_alpha_[i] << " ";
}
os << "]" << std::endl;