Obbart/universal_robots_ros_driver
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create xacro properties again

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This commit is contained in:
Felix Mauch
2019-03-28 10:31:08 +01:00
parent bc15944fa1
commit c96338c9e7
3 changed files with 41 additions and 25 deletions
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3
include/ur_rtde_driver/calibration.h
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@@ -144,6 +144,8 @@ public:
return chain_;
}
std::string toXacroProperties() {return robot_parameters_corrected_.toXacroProperties();}
Eigen::Matrix4d calcForwardKinematics(const Eigen::Matrix<double, 6, 1>& joint_values, const size_t link_nr = 6);
private:
@@ -152,6 +154,7 @@ private:
void buildChain();
DHRobot robot_parameters_;
DHRobot robot_parameters_corrected_;
std::vector<std::string> link_names_ = { "shoulder", "upper_arm", "forearm", "wrist_1", "wrist_2", "wrist_3" };
std::vector<Eigen::Matrix4d> chain_;