Initialize MotionData using provided initial values#9
Open
Yadunund wants to merge 2 commits intoros-industrial:masterfrom
Open
Initialize MotionData using provided initial values#9Yadunund wants to merge 2 commits intoros-industrial:masterfrom
Yadunund wants to merge 2 commits intoros-industrial:masterfrom
Conversation
Signed-off-by: Yadunund <yadunund@openrobotics.org>
Author
|
@gavanderhoorn could you provide some feedback on this PR? |
Author
|
@gavanderhoorn friendly ping. |
Author
|
@gavanderhoorn another ping. |
|
A friendly ping also from me - is there anything that can still be done on this PR before it can be merged? |
This file contains hidden or bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
Sign up for free
to join this conversation on GitHub.
Already have an account?
Sign in to comment
2 participants
Add this suggestion to a batch that can be applied as a single commit.This suggestion is invalid because no changes were made to the code.Suggestions cannot be applied while the pull request is closed.Suggestions cannot be applied while viewing a subset of changes.Only one suggestion per line can be applied in a batch.Add this suggestion to a batch that can be applied as a single commit.Applying suggestions on deleted lines is not supported.You must change the existing code in this line in order to create a valid suggestion.Outdated suggestions cannot be applied.This suggestion has been applied or marked resolved.Suggestions cannot be applied from pending reviews.Suggestions cannot be applied on multi-line comments.Suggestions cannot be applied while the pull request is queued to merge.Suggestion cannot be applied right now. Please check back later.
This PR updates updates the implementation of
abb::robot::initializeMotionData()to accept initial state and command values for position, velocity and effort for each joint. The changes here do not break API and should not affect any existing downstream users.This PR would allow downstream implementations of hardware interfaces/ROS drivers to properly initialize EGM such that the robot remains at a desired initial state on startup.
It is essential to fix PickNikRobotics/abb_ros2#44