Allow to set IKSolver parameters

fzi-forschungszentrum-informatik / cartesian_controllers

A set of Cartesian controllers for the ROS1 and ROS2-control framework.

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

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Closed MarcoMagriDev closed 3 weeks ago

MarcoMagriDev commented 6 months ago

This PR aims to address the impossibility to set parameters of IK solvers from ROS2 yaml params file as suggested here.

To avoid params redeclarations an auto_declare protected method has been defined for the IKSolver base class

(fix similar to the one proposed in #129)

stefanscherzinger commented 1 month ago

Thank you @MarcoMagriDev

I'll rebase this on the current ROS2 branch and see how to merge it. We dropped most of the ROS2 version-dependend distinctions.