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personalrobotics / ada_ros2

ROS2 Hardware Interface and Description for the ADA Robot
BSD 3-Clause "New" or "Revised" License
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Implement Octomap #21

Closed amalnanavati closed 1 year ago

amalnanavati commented 1 year ago

Description

Joint PR with ada_feeding#125.

This PR does the following:

  1. Implements Octomap in MoveIt.
  2. Adds a manual camera calibration that seems to work quite well.
  3. Rotates the fork handle up slightly in the URDF, to align that small degree of freedom with what the depth camera sees.

Testing

See ada_feeding#125.