Make coordinate frames conform with convention

CommonplaceRobotics / iRC_ROS

ROS2 packages for the igus Robot Control

Apache License 2.0

15 stars 7 forks source link

Make coordinate frames conform with convention #91

Closed cpr-fer closed 1 year ago

cpr-fer commented 1 year ago

TODO:

[x] Add tool0 frame
[x] Fix gripper coordinate systems
[x] Adapt examples to new coordinate systems
[x] Test examples

cpr-fer commented 1 year ago

The vacuum example has some issues, see #101 for more details regarding the gripper issue, the other one is related to adapting the positions of the trays to a good place for the rebel.

The other two are working fine though now, as such I'll be merging this soon

@JHeuverRiwo If you encounter any issues with movements now you need to double-check all orientations as they might have changed.