Open AdamPettinger opened 3 years ago
https://github.com/PickNikRobotics/UR10e_welding_demo/blob/34af9f47736188db8cd698fd5fb8a9ef376a2caf/hybrid_planning_demo/src/servo_solver.cpp#L181-L188
If the Rotation about Z axis is not the correction axis, that line (188) should become
msg->twist.angular.z = axis_angle.axis().z() * axis_angle.angle() * vel_scale;
In general, a better approach is probably to set the entire twist message, then come back and modify specific components of it due to the laser corrections
https://github.com/PickNikRobotics/UR10e_welding_demo/blob/34af9f47736188db8cd698fd5fb8a9ef376a2caf/hybrid_planning_demo/src/servo_solver.cpp#L181-L188
If the Rotation about Z axis is not the correction axis, that line (188) should become
In general, a better approach is probably to set the entire twist message, then come back and modify specific components of it due to the laser corrections