Obbart/universal_robots_ros_driver
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adding changed d parameter of next element to output

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Felix Mauch
2019-03-28 16:02:18 +01:00
parent c96338c9e7
commit f373eca92b
1 changed files with 1 additions and 0 deletions
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src/calibration.cpp
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@@ -135,6 +135,7 @@ void Calibration::correctAxis(const size_t link_index)
// Correct next joint // Correct next joint
// ROS_INFO_STREAM("Second Next old:\n" << chain_[2 * link_index + 2]); // ROS_INFO_STREAM("Second Next old:\n" << chain_[2 * link_index + 2]);
chain_[2 * link_index + 2](2, 3) -= distance_correction; chain_[2 * link_index + 2](2, 3) -= distance_correction;
robot_parameters_corrected_.segments_[link_index+1].d_ -= distance_correction;
// ROS_INFO_STREAM("Second Next new:\n" << chain_[2 * link_index + 2]); // ROS_INFO_STREAM("Second Next new:\n" << chain_[2 * link_index + 2]);
} }