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Removed prefix code which prevented the plugin from being used for mu… #248
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0daaaac
Removed prefix code which prevented the plugin from being used for mu…
TheClearpathDash 692f4bc
It now is agnostic to how many arms there are - and the plugin works …
TheClearpathDash ed5a834
Update ur_moveit_plugin.cpp
TheDash 4b8a17a
Update ur_moveit_plugin.cpp
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Original file line number | Diff line number | Diff line change |
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@@ -325,22 +325,9 @@ bool URKinematicsPlugin::initialize(const std::string &robot_description, | |
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private_handle.param<std::string>("arm_prefix", arm_prefix_, ""); | ||
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ur_joint_names_.push_back(arm_prefix_ + "shoulder_pan_joint"); | ||
ur_joint_names_.push_back(arm_prefix_ + "shoulder_lift_joint"); | ||
ur_joint_names_.push_back(arm_prefix_ + "elbow_joint"); | ||
ur_joint_names_.push_back(arm_prefix_ + "wrist_1_joint"); | ||
ur_joint_names_.push_back(arm_prefix_ + "wrist_2_joint"); | ||
ur_joint_names_.push_back(arm_prefix_ + "wrist_3_joint"); | ||
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ur_link_names_.push_back(arm_prefix_ + "base_link"); // 0 | ||
ur_link_names_.push_back(arm_prefix_ + "ur_base_link"); // 1 | ||
ur_link_names_.push_back(arm_prefix_ + "shoulder_link"); // 2 | ||
ur_link_names_.push_back(arm_prefix_ + "upper_arm_link"); // 3 | ||
ur_link_names_.push_back(arm_prefix_ + "forearm_link"); // 4 | ||
ur_link_names_.push_back(arm_prefix_ + "wrist_1_link"); // 5 | ||
ur_link_names_.push_back(arm_prefix_ + "wrist_2_link"); // 6 | ||
ur_link_names_.push_back(arm_prefix_ + "wrist_3_link"); // 7 | ||
ur_link_names_.push_back(arm_prefix_ + "ee_link"); // 8 | ||
// Load the joint names from the group model | ||
ur_joint_names_ = joint_model_group->getJointModelNames(); | ||
ur_link_names_ = joint_model_group->getLinkModelNames(); | ||
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ur_joint_inds_start_ = getJointIndex(ur_joint_names_[0]); | ||
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@@ -362,10 +349,13 @@ bool URKinematicsPlugin::initialize(const std::string &robot_description, | |
} | ||
last_ur_joint_ind = cur_ur_joint_ind; | ||
} | ||
// if successful, the kinematic chain includes a serial chain of the UR joints | ||
// if successful, the kinematic chain includes a serial chain of the UR joints */ | ||
There was a problem hiding this comment. Choose a reason for hiding this commentThe reason will be displayed to describe this comment to others. Learn more. Dangling There was a problem hiding this comment. Choose a reason for hiding this commentThe reason will be displayed to describe this comment to others. Learn more. It should be unaffected since // is there, but I've removed it. |
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kdl_tree.getChain(getBaseFrame(), ur_link_names_.front(), kdl_base_chain_); | ||
kdl_tree.getChain(ur_link_names_.back(), getTipFrame(), kdl_tip_chain_); | ||
// Change this to use the link names provided by model, not by hard coded naming. (base_frame provided as arg) | ||
ROS_INFO("Using base frame %s from model", base_frame.c_str()); | ||
ROS_INFO("Using tip frame %s from model", tip_frame.c_str()); | ||
kdl_tree.getChain(getBaseFrame(), base_frame, kdl_base_chain_); | ||
kdl_tree.getChain(tip_frame, getTipFrame(), kdl_tip_chain_); | ||
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// weights for redundant solution selection | ||
ik_weights_.resize(6); | ||
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