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JeroenDM / moveit_opw_kinematics_plugin

An attempt at writing a MoveIt! plugin for opw_kinematics.
http://wiki.ros.org/moveit_opw_kinematics_plugin
Apache License 2.0
7 stars 7 forks source link

mismatch between signcorrections in test and readme #16

Closed simonschmeisser closed 5 years ago

simonschmeisser commented 5 years ago

https://github.com/JeroenDM/moveit_opw_kinematics_plugin/blob/97877b0ed249579c7defdffe5bd86607b717c542/test/kinematics_kuka.yaml#L13

has all positive sign correction while the readme (and kuka in reality) have 1,4 and 6 negative

cannot run the test as I don't have this variant of the kuka package

ps: thanks for your continued work!

JeroenDM commented 5 years ago

Mmm, your right, there must be a bug somewhere. I suspect the test is using this kinematics.yaml, although that was not my intention. I will fix this.

JeroenDM commented 5 years ago

Ok, it seems the right file (with the wrong parameters) is loaded. But the current tests don't catch errors in sign corrections. I'm adding a small test for this specific robot. But this again stresses the fact that I need tests that check consistency with the urdf.

JeroenDM commented 5 years ago

I changed the parameters 0b052f498596571ac28abbf854e81013c8c14c2b Thanks for pointing it out!

I also added a (quick and dirty) test to make sure I don't change them again.