Use pose_broadcaster to publish the TCP pose #1108
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High-level question: would it perhaps be better to have the hardware interface offer a quaternion instead of an Euler angle triplet? That would seem cleaner to me, in the sense of it being more of an While they aren't necessarily very human friendly, quaternions have definite benefits mathematically, and making it the responsibility of the hardware interface/driver to convert whatever internal orientation representation it uses to this 'intermediary representation' would seem to make sense. |
I was discussing that with @RobertWilbrandt, as well and I would agree. But I think that's a question to discuss once the PR on ros2_controllers is there. |
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Oh, just noticed #856 actually does it that way. |
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I don't have any strong opinions on this - Going through REP 103 i went through the options and preferred RPY because the values cannot represent any invalid state (while i would expect that a quaternion should be normalized). From an application point of view i agree, so i changed the representation in pose_broadcaster now. |
RobertWilbrandt
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# Conflicts: # ur_robot_driver/config/ur_controllers.yaml # ur_robot_driver/launch/ur_control.launch.py # ur_robot_driver/src/hardware_interface.cpp
This has now been merged to master.
Everything is merged upstream!
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Binary builds fail as the necessary changes in ros2_control have just been merged into master. |
urfeex
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Adds a broadcaster for the robot's TCP pose. (cherry picked from commit 660e363)
Adds a broadcaster for the robot's TCP pose. (cherry picked from commit 660e363)
This uses the PoseBroadcaster currently written by @RobertWilbrandt. As he wants to contribute that to ros2_controllers, this will stay in a draft state until it is merged upstream.