Remove base position magic value

Signed-off-by: Kacper Dąbrowski <[email protected]>

Author: knicked

ros2_ws/src/robotic_manipulation/src/robotic_manipulation.cpp

@@ -19,6 +19,10 @@
 #include "robotic_manipulation/arm_controller.h"
 #include "robotic_manipulation/rai_manipulation_interface_node.h"
 
+constexpr double EndEffectorBaseX = 0.3;
+constexpr double EndEffectorBaseY = 0.0;
+constexpr double EndEffectorBaseZ = 0.35;
+
 int main(int argc, char *argv[]) {
   // Initialize ROS and create the Node
   rclcpp::init(argc, argv);
@@ -27,7 +31,7 @@ int main(int argc, char *argv[]) {
   armController->Initialize();
 
   armController->MoveThroughWaypoints(
-      {armController->CalculatePose(0.3, 0.0, 0.35)});
+      {armController->CalculatePose(EndEffectorBaseX, EndEffectorBaseY, EndEffectorBaseZ)});
 
   std::vector<double> startingPose;
   startingPose = armController->CaptureJointValues();