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ros-industrial / universal_robot

ROS-Industrial Universal Robots support (https://wiki.ros.org/universal_robot)
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Update ur kinematics #616

Closed fmauch closed 1 year ago

fmauch commented 1 year ago

In #613 I collected a couple of reasons why I think that ur_kinematics is currently flawed. This PR addresses a couple of them.

Since I still see issues with using this plugin due to its problems regarding robot calibration I added a README to inform users about this concern.

This closes #460

fmauch commented 1 year ago

BTW: The DH parameters are extracted from https://www.universal-robots.com/articles/ur/application-installation/dh-parameters-for-calculations-of-kinematics-and-dynamics/

gavanderhoorn commented 1 year ago

Was this merged with a squash-merge?

Please only use those for single-commit PRs.

fmauch commented 1 year ago

I would have squashed the PR anyway, so we simply skipped that step.

gavanderhoorn commented 1 year ago

Why? All 4 commits make sense to me to be separate commits.

Thematically they don't belong together, so better to keep them as separate commits.

fmauch commented 1 year ago

OK, I'll keep that in mind in future.