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RethinkRobotics-opensource / sns_ik

Saturation in the Null Space (SNS) Inverse Kinematic Library
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Fix failing melodic tests #105

Closed chris-smith closed 5 years ago

chris-smith commented 5 years ago

Fixes issue with dangling reference and invalid initialization.

The JntArray initialization fix was causing KDL_test_1 to fail because it checked that the ChainIkSolverPos_NR_JL::CartToJnt checks that output JntArray has the correct size.

The SNSPositionIK change (passing in a reference to chain) fixes an issue with a dangling reference - m_positionFK and m_jacobianSolver only hold a reference to the chain they are passed so it's necessary that the copy be kept alive somewhere. When it was passed by value, a temporary copy was made and then destroyed.

This fixes the tests for me locally in Ubuntu 18.04 and melodic.

forrest-rm commented 5 years ago

@IanTheEngineer, what's the best way to merge this PR into the indigo-devel and kinetic-devel branches?