Comments (2)
Thoughts for another PR:
I would suggest to rename manipulator_asus
to manipulator_camera
and adjust it in robot_scan.cpp through the local param
return loadParam(nh, "group_name", params_.group_name) &&
It is still confusing that this group uses the prbt_flange
and not the the ensenso_optical_frame
. But as I remember godel ist doing a transform at some point, right?
from automatica18_scan_and_plan_demo.
I have renamed the group manipulator_ensenso
. I tried setting the tool_tip as ensenso_optical_frame
, but I could not solve the IK. The transformation is happening here.
We do not need to change robot_scan.cpp, we can set the value in robot_scan.yaml.
from automatica18_scan_and_plan_demo.
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from automatica18_scan_and_plan_demo.