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ahundt / grl

Robotics tools in C++11. Implements soft real time arm drivers for Kuka LBR iiwa plus V-REP, ROS, Constrained Optimization based planning, Hand Eye Calibration and Inverse Kinematics integration.
https://ahundt.github.io/grl/
BSD 2-Clause "Simplified" License
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fixes for driver to support EControlMode switching #135

Closed tdinesh closed 7 years ago

tdinesh commented 7 years ago

Thanks! Can you also give a description of what these changes do, for instance do they affect the supported FRI modes or only SmartServo?

These only affect supported SmartServo. No changes to FRI

Also one important thing: It looks these changes are not be available to the vrep plugin, and in a worst case they may break it. Have you checked that it at least compiles?

I do not have vrep installed. Can you test it on your end?

ahundt commented 7 years ago

I think this is good for now, I've been testing the changes for a couple of days and they works very well. We can rename some of the calls to be more consistent at a later time.