bump::minor
Get gazebo simulation back to working state after recent changes. It also cleans up code a little (mainly for easier integration with simulation). There were also changes that affect not only simulation (but were required to make simulation work): table safety margin changed to 5cm, cleaning octomap after adding object, changes object to 2 cylinders, fixes perpendicular orientation for picking. In simulation apart from getting it back to working state it also: adds bottle, fixes picking object (effort controller for gripper), adds imu and robot localization in simulation, add artag bundle to simulation.
bump::minor Get gazebo simulation back to working state after recent changes. It also cleans up code a little (mainly for easier integration with simulation). There were also changes that affect not only simulation (but were required to make simulation work): table safety margin changed to 5cm, cleaning octomap after adding object, changes object to 2 cylinders, fixes perpendicular orientation for picking. In simulation apart from getting it back to working state it also: adds bottle, fixes picking object (effort controller for gripper), adds imu and robot localization in simulation, add artag bundle to simulation.