Add self-test on init - Githubissues

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

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Add self-test on init #29

Closed simonschmeisser closed 4 years ago

simonschmeisser commented 4 years ago

It could be helpful in some cases to print out an error or warning on init if the FK computed by OPW does not match the one compute using the RobotModel/RobotState. This could save some time debugging opw parameters

JeroenDM commented 4 years ago

Good idea, I will try to implement something today.

(Seems like a good warmup excercise to get to now the code again, after abandoning it for so long...)