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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

use melodic api #25

Closed simonschmeisser closed 5 years ago

simonschmeisser commented 5 years ago

instead of parsing the robot description use the RobotModel as passed in from MoveIt.

This also means that joint limits set in MoveIt will now apply and override those from URDF

@rhaschke could you have a quick look after your holidays, my memories fade already ;)

JeroenDM commented 5 years ago

Thank you! I read through the changes and ran the tests. Everything seems fine. Are there still potential changes related to the joint limits or can I squash-merge it? @simonschmeisser

simonschmeisser commented 5 years ago

no, I don't expect further changes, can be squash-merged :+1: