Fmilano/cpt poinlaser hilti demo remove arm logic - Githubissues

ethz-asl / cad-percept

Bringing meshes to robotics.

BSD 3-Clause "New" or "Revised" License

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Fmilano/cpt poinlaser hilti demo remove arm logic #105

Closed francescomilano172 closed 3 years ago

francescomilano172 commented 3 years ago

Removes arm-control logic from MabiLocalizer. Now the HAL routine advertises two services:

hal_take_measurement, that is expected to be called after the arm is moved, add takes laser measurements to be added to the factor graph, together with arm-odometry measurements;
high_acc_localize: performs the actual HAL routine, by optimizing over the factor graph. Returns the corrected robot-base pose in the world frame.

francescomilano172 commented 3 years ago

@hermannsblum In case you wanted to take a quick look, these are the changes that I made

ethzasl-jenkins commented 3 years ago

Test FAILed.

ethzasl-jenkins commented 3 years ago

Test FAILed.

ethzasl-jenkins commented 3 years ago

Test FAILed.

ethzasl-jenkins commented 3 years ago

Test FAILed.