Migration of sr_hand_kinematics from arm_navigation to moveit #4
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…nstead of kinematic_msgs)
…n from pr2_moveit_plugins Added a test but not working yet
Added new launch file for plugin test as rostest and added a local srdf description Removed getToolFrame and getBaseFrame (now in parent class) Fixed library dependencies (moveit_core), Switched base plugin name to moveit_core name Added checking and warning for missing parameters in plugin Removed unnecessary param loading (passed as argument from parent)
…ers) Added launch file for it Moves test launch files to test directory Fixed hand kinematics coupling to handle 1:1 coupling in seed generation Fixed hand kinematics coupling to handle prefixed tip names
Updated comments in makefiles and manifest regarding plugin building
Fixed tf deprecated functions Added plugin test for the other 4 fingers Fixed plugin test using map instead of vector in joint_state_group->getVariableValues because vector is for the whole group (FFJ4 always first even for other fingers) Trivial warning fix Cleaned indentation
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Added #5 - merging |
ugocupcic
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May 27, 2014
Migration of sr_hand_kinematics from arm_navigation to moveit
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Both service and plugin mode were migrated to moveit. Plugin needed a complete rework due to many changes in kinematics_base package
Both service and plug mode have now a rostest to validate the FK/IK for every finger
No migration to catkin yet, but patches ready for the code at least (kinematics_base in hydro changed again)