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RethinkRobotics-opensource / sns_ik

Saturation in the Null Space (SNS) Inverse Kinematic Library
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Remove sns_ik_lib dependency on std_msgs #47

Open IanTheEngineer opened 8 years ago

IanTheEngineer commented 8 years ago

I was surprised to find that I added std_msgs as a dependency of sns_ik_lib. That seems wholly unnecessary, as evidenced by a quick search: https://github.com/RethinkRobotics-opensource/sns_ik/search?utf8=%E2%9C%93&q=std_msgs

This dependency should be removed in the future.

rethink-forrest commented 8 years ago

Once we remove ROS logging, we can probably also remove roscpp as a dependency.

IanTheEngineer commented 8 years ago

Once we remove ROS logging, we can probably also remove roscpp as a dependency.

mmmmm nope. Not if we want to ever talk to the param server.

rethink-forrest commented 8 years ago

Ah, we do use NodeHandle in sns_ik.cpp to parse the urdf.