added joint position support and increased planning time#3
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MaxDennerle wants to merge 1 commit intokth-ros-pkg:hydrofrom
Open
added joint position support and increased planning time#3MaxDennerle wants to merge 1 commit intokth-ros-pkg:hydrofrom
MaxDennerle wants to merge 1 commit intokth-ros-pkg:hydrofrom
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Seems good to me, but to make it more robot generic I would allow a variable number of joints to be put in as parameters. Also, for sake of clarity it would be better to have the joint position targets in a separate parameter in the yaml file and a separate variable in the code to distinguish them from cartesian pose targets |
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Aug 1, 2019
Suppress warning about depending on eigen
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As promised, here is the pull request:
I added a very simple form of joint position support. You can now set the bool "use_joints" in the calib_params.yaml to true, when you want to use joints instead of cartesian coordinates. The pose lists will then be interpreted as 6 joints.