search

CentroEPiaggio / kuka-lwr

Software related to the KUKA LWR 4+: for real and for simulation.
The Unlicense
101 stars 81 forks source link

Updating some deprecated commands for ROS Kinetic #81

Closed hamalMarino closed 7 years ago

hamalMarino commented 7 years ago

Few changes to avoid various warnings when loading the model in ROS Kinetic. All changes are compatible with ROS Indigo.

hamalMarino commented 7 years ago

Following what was said in #72, I also updated the functions canSwitch (now prepareSwitch) and doSwitch, but being willing not to break compatibility with Indigo (yet) I decided to check the ROS version from code instead at preproccesing. @miguelprada and @carlosjoserg, any thoughts on this?

carlosjoserg commented 7 years ago

That's a cool solution to still keep a single master branch... in fact, I didn't know ROS had a a numbered version but ROS1 and ROS2 :joy:

hamalMarino commented 7 years ago

At least for now, with many (at least here!) still using Indigo...

marcoesposito1988 commented 7 years ago

Tried it out under Kinetic, looks good!

However, I tried to merge this with #82 and that did not work: I always get the infamous "FRI interpolation error" when starting the impedance controller. I guess we can merge this branch, and then solve that issue later.

manuelbonilla commented 7 years ago

tested and working both real and simulated robot.