Code refactoring and tests

UTNuclearRoboticsPublic / jog_arm

A real-time robot arm jogger.

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Code refactoring and tests #84

Closed machinekoder closed 5 years ago

machinekoder commented 5 years ago

This PR adds the following changes:

fixes some typos in the jog_arm_msgs
adds another teleop example spacemouse_to_twist
refactoring the jog_arm_server code into separate files for better readability
fixing clang-format warnings
improves the performance for joint state updates
adds .gitignore and a .editorconfig file
sets the jog frame header to the default value if nothing else is present
fixes the zero_traj_flag not behaving correctly
adds a very minimalist 6-DOF test configuration and a sample test case
adds a timeout for the move group initialization
fixes jog not working when the joint state is zero (https://github.com/UTNuclearRoboticsPublic/jog_arm/issues/83)

gavanderhoorn commented 5 years ago

@machinekoder: does this overlap with ros-planning/moveit#1244?

AndyZe commented 5 years ago

@gavanderhoorn I was planning to go through it manually and add the best/compatible features to the MoveIt! PR. (if that's OK with @machinekoder)

If I do that, I would like to figure out a way to attribute the changes to @machinekoder

AndyZe commented 5 years ago

@machinekoder Thanks for being patient. I'm going to start reviewing this now and porting the better changes over to the MoveIt! pull request (if that's OK with you).

AndyZe commented 5 years ago

Thank you very much! Lots of good, small contributions, and some big ones too. I love the unit tests.

All of this has been ported to the MoveIt! PR now except the tests. They usually use C++ gtest. I'll wait to see if they want that or not.

machinekoder commented 5 years ago

@AndyZe Thanks. Regarding tests: The config/URDF might still be useful even with gtest.

machinekoder commented 5 years ago

@AndyZe Any updates on merging the tests?

AndyZe commented 5 years ago

They are a part of MoveIt now :+1:

https://github.com/ros-planning/moveit/tree/master/moveit_experimental/jog_arm/test

AndyZe commented 5 years ago

I guess I will close this PR