search

pantor / frankx

High-Level Motion Library for Collaborative Robots
https://pantor.github.io/frankx/
GNU Lesser General Public License v3.0
257 stars 62 forks source link

Libfranka 0.8 compatibility #24

Closed BlGene closed 3 years ago

BlGene commented 3 years ago

This PR makes the changes suggested by @jmkl009 in issue https://github.com/pantor/frankx/issues/21 that are required to get frankx to work with libfranka 0.8.

pantor commented 3 years ago

Hi @BlGene,

thanks so much for your PR! Unfortunately I'm not able to test this on a real robot, as I don't have access to a robot running controller version 4.0 and libfranka 0.8. So I would really like to merge this PR, however it would be great if you were able to help maintaining frankx for a while :wink: I would also be happy about adding you as a collaborator to the repo. What do you think about that? Btw, I saw that Lukas authored some commits, are you working with him?

BlGene commented 3 years ago

@pantor I would be happy to help. I'm working together with Lukas and we made the changes while I was helping him to get frankx running.

I've squashed the commit now, maybe we should run CI again just to be sure.

I would only make small changes, since I don't have a good overview of how the library works yet, I was mostly following @jmkl009's instructions.