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KITrobotics / force_torque_sensor

Apache License 2.0
8 stars 4 forks source link

wrong gravity compensator? #20

Closed jacknlliu closed 4 years ago

jacknlliu commented 5 years ago

https://github.com/KITrobotics/force_torque_sensor/blob/1065d1405a0c415fd3230d61d3e2600f1b093ef6/src/force_torque_sensor_handle.cpp#L558

transformed_data uses the frame transform_frame_, and this will cause the gravity_compensator_ can't transform the CoG correctly!

destogl commented 5 years ago

I do not really understand the error...

jacknlliu commented 5 years ago

It's been a long time, but I'll give you more explanation.

destogl commented 5 years ago

Only if its important to you...