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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
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subtract base transform in self check #32

Closed simonschmeisser closed 4 years ago

simonschmeisser commented 4 years ago

If there is some transformation between the origin of the urdf and the origin of the group, we need the relative transformation from base to tip instead of the global transform of the tip

JeroenDM commented 4 years ago

Thank you! I changed the kuka_test_resources package so the old tests fail without this fix.

If that looks good to you, I will merge the two changes at the same time. (And then maybe cherry-pick some stuff to kinetic-devel (do you know of someone using that branch?))

simonschmeisser commented 4 years ago

Many packages in ros-i are still kinetic (or even older) compatible but for me personally I don't care :)