Improvements, fixes #19
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Disable debug mode by default
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@simonschmeisser what do you think of these changes? |
| <link name="${prefix}jaw_base"/> | ||
| <link name="${prefix}finger_base"/> | ||
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| <joint name="${prefix}finger_left_joint" type="prismatic"> |
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| <joint name="${prefix}finger_left_joint" type="prismatic"> | |
| <joint name="${prefix}finger_left" type="prismatic"> |
we typically use finger_left for the joint and finger_left_frame for the link but I'll check if that is standardized somewhere
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@simonschmeisser any update here?
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It appears not to be standardized. I'm fine with either one
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Note that finger_left is the default in WSG50ROSNode.cpp line 52 or so
| #define MAXWIDTH 110.0 | ||
| #endif | ||
| // #ifndef MAXWIDTH | ||
| // #define MAXWIDTH 110.0 -> use parameter instead to allow using wsg50-210 as well |
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You probably want to remove that instead of commenting it out
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Well, actually, I like the information why MAX_WIDTH is not set here, like it is done for all the other parameters of the WSG50-110.
| @@ -44,6 +41,7 @@ | |||
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| // Gripper Default Values | |||
| // | |||
| #define MAXWIDTH 110.0 | |||
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why do we need the maxwidth here and will this collide with a 210/68 gripper size?
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It is used in L.646 as default value, if you do not set the parameter max_width. Since that is the majority of cases for this driver, I kept it..
| @@ -638,13 +634,15 @@ int main(int argc, char** argv) | |||
| // | |||
| std::string ip, port; | |||
| std::string jointName, openingJointName; | |||
| double max_width; | |||
| ros::param::param<std::string>("~ip", ip, DEFAULTIP); | |||
| ros::param::param<std::string>("~port", port, DEFAULTPORT); | |||
| ros::param::param<std::string>("~joint_name", jointName, DEFAULTJOINTNAME); | |||
| ros::param::param<std::string>("~opening_joint_name", openingJointName, DEFAULTOPENINGJOINTNAME); | |||
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| ros::param::param<std::string>("~opening_joint_name", openingJointName, DEFAULTOPENINGJOINTNAME); |
is this still used?
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the macro in line 53 can also be removed
| <link name="${prefix}jaw_base"/> | ||
| <link name="${prefix}finger_base"/> | ||
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| <joint name="${prefix}finger_left_joint" type="prismatic"> |
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It appears not to be standardized. I'm fine with either one
| @@ -638,13 +634,15 @@ int main(int argc, char** argv) | |||
| // | |||
| std::string ip, port; | |||
| std::string jointName, openingJointName; | |||
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| std::string jointName, openingJointName; | |
| std::string jointName; |
| <link name="${prefix}jaw_base"/> | ||
| <link name="${prefix}finger_base"/> | ||
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| <joint name="${prefix}finger_left_joint" type="prismatic"> |
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Note that finger_left is the default in WSG50ROSNode.cpp line 52 or so
Several bug fixes, improvements. API breaking: changes urdf finger joints and uses std::empty services instead of custom empty services. Applies support for wsg50-210 and possibly wsg50-68 by introducing a max_width parameter.