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Working kinematic representation. One caveat: there is no link representation between the world frame and the robot base frame. Sometimes when the simulation starts, the arm slides slightly off of (0, 0, 0) which causes joint positions to be slightly off (by the same amount).

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This commit is contained in:
Derek Witcpalek
2020-04-09 17:05:06 -04:00
parent 496a7351c2
commit 6acb7158a0
4 changed files with 148 additions and 36 deletions
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9
rrrobot_src/src/arm_control/CMakeLists.txt
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@@ -224,7 +224,14 @@ install(DIRECTORY include/${PROJECT_NAME}/
#############
## Add gtest based cpp test target and link libraries
# catkin_add_gtest(${PROJECT_NAME}-test test/test_arm_control.cpp)
catkin_add_gtest(${PROJECT_NAME}-test test/test_internal_arm_representation.cpp src/arm.cpp)
target_link_libraries(${PROJECT_NAME}-test
${catkin_LIBRARIES}
${kdl_parser_LIBRARIES}
${orocos_kdl_LIBRARIES}
${SDF_LIBRARIES}
ignition-math4::ignition-math4
)
# if(TARGET ${PROJECT_NAME}-test)
# target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME})
# endif()