From 39bf6fe5689614ff7263000d58137f2f43dea0cc Mon Sep 17 00:00:00 2001
From: Ventsi <uquzq@student.kit.edu>
Date: Fri, 25 Oct 2024 17:18:15 +0200
Subject: [PATCH] Add changes that are avoiding bugs
---
.../1dof_joint_st_const_0.db3 | Bin 0 -> 32768 bytes
bags/1dof_joint_st_const/metadata.yaml | 26 ++++++++++++++
.../1dof_joint_states/1dof_joint_states_0.db3 | Bin 0 -> 32768 bytes
bags/1dof_joint_states/metadata.yaml | 26 ++++++++++++++
.../2dof_joint_states/2dof_joint_states_0.db3 | Bin 0 -> 36864 bytes
bags/2dof_joint_states/metadata.yaml | 32 ++++++++++++++++++
.../2dof_joint_states_sim_0.db3 | Bin 0 -> 36864 bytes
bags/2dof_joint_states_sim/metadata.yaml | 32 ++++++++++++++++++
.../2dof_joint_states_suc_0.db3 | Bin 0 -> 53248 bytes
bags/2dof_joint_states_suc/metadata.yaml | 32 ++++++++++++++++++
.../2dof_joint_states_successive_0.db3 | Bin 0 -> 53248 bytes
.../metadata.yaml | 32 ++++++++++++++++++
.../3dof_joint_states_sim_0.db3 | Bin 0 -> 36864 bytes
bags/3dof_joint_states_sim/metadata.yaml | 32 ++++++++++++++++++
.../3dof_joint_states_suc_0.db3 | Bin 0 -> 57344 bytes
bags/3dof_joint_states_suc/metadata.yaml | 32 ++++++++++++++++++
.../3dof_joint_states_successive_0.db3 | Bin 0 -> 57344 bytes
.../metadata.yaml | 32 ++++++++++++++++++
.../joint_states_3dof_simultaneous_0.db3 | Bin 0 -> 36864 bytes
.../metadata.yaml | 32 ++++++++++++++++++
bags/k_delta_acc1/k_delta_acc1_0.db3 | Bin 0 -> 24576 bytes
bags/k_delta_acc1/metadata.yaml | 32 ++++++++++++++++++
bags/k_delta_acc2/k_delta_acc2_0.db3 | Bin 0 -> 24576 bytes
bags/k_delta_acc2/metadata.yaml | 32 ++++++++++++++++++
bags/k_delta_acc4/k_delta_acc4_0.db3 | Bin 0 -> 32768 bytes
bags/k_delta_acc4/metadata.yaml | 32 ++++++++++++++++++
bags/k_delta_const1/k_delta_const1_0.db3 | Bin 0 -> 24576 bytes
bags/k_delta_const1/metadata.yaml | 32 ++++++++++++++++++
bags/k_delta_const2/k_delta_const2_0.db3 | Bin 0 -> 32768 bytes
bags/k_delta_const2/metadata.yaml | 32 ++++++++++++++++++
bags/velocity_const/metadata.yaml | 26 ++++++++++++++
bags/velocity_const/velocity_const_0.db3 | Bin 0 -> 24576 bytes
bags/velocity_joints_const/metadata.yaml | 32 ++++++++++++++++++
.../velocity_joints_const_0.db3 | Bin 0 -> 32768 bytes
bags/velocity_joints_tr/metadata.yaml | 32 ++++++++++++++++++
.../velocity_joints_tr_0.db3 | Bin 0 -> 32768 bytes
bags/velocity_tr/metadata.yaml | 26 ++++++++++++++
bags/velocity_tr/velocity_tr_0.db3 | Bin 0 -> 24576 bytes
ros2_ws/.vscode/c_cpp_properties.json | 26 ++++++++++++++
ros2_ws/.vscode/settings.json | 20 +++++++++++
.../config/initial_positions_IRS_Lab.yaml | 11 ++++++
.../inverse_kinematics_node.py | 7 ++--
42 files changed, 645 insertions(+), 3 deletions(-)
create mode 100644 bags/1dof_joint_st_const/1dof_joint_st_const_0.db3
create mode 100644 bags/1dof_joint_st_const/metadata.yaml
create mode 100644 bags/1dof_joint_states/1dof_joint_states_0.db3
create mode 100644 bags/1dof_joint_states/metadata.yaml
create mode 100644 bags/2dof_joint_states/2dof_joint_states_0.db3
create mode 100644 bags/2dof_joint_states/metadata.yaml
create mode 100644 bags/2dof_joint_states_sim/2dof_joint_states_sim_0.db3
create mode 100644 bags/2dof_joint_states_sim/metadata.yaml
create mode 100644 bags/2dof_joint_states_suc/2dof_joint_states_suc_0.db3
create mode 100644 bags/2dof_joint_states_suc/metadata.yaml
create mode 100644 bags/2dof_joint_states_successive/2dof_joint_states_successive_0.db3
create mode 100644 bags/2dof_joint_states_successive/metadata.yaml
create mode 100644 bags/3dof_joint_states_sim/3dof_joint_states_sim_0.db3
create mode 100644 bags/3dof_joint_states_sim/metadata.yaml
create mode 100644 bags/3dof_joint_states_suc/3dof_joint_states_suc_0.db3
create mode 100644 bags/3dof_joint_states_suc/metadata.yaml
create mode 100644 bags/3dof_joint_states_successive/3dof_joint_states_successive_0.db3
create mode 100644 bags/3dof_joint_states_successive/metadata.yaml
create mode 100644 bags/joint_states_3dof_simultaneous/joint_states_3dof_simultaneous_0.db3
create mode 100644 bags/joint_states_3dof_simultaneous/metadata.yaml
create mode 100644 bags/k_delta_acc1/k_delta_acc1_0.db3
create mode 100644 bags/k_delta_acc1/metadata.yaml
create mode 100644 bags/k_delta_acc2/k_delta_acc2_0.db3
create mode 100644 bags/k_delta_acc2/metadata.yaml
create mode 100644 bags/k_delta_acc4/k_delta_acc4_0.db3
create mode 100644 bags/k_delta_acc4/metadata.yaml
create mode 100644 bags/k_delta_const1/k_delta_const1_0.db3
create mode 100644 bags/k_delta_const1/metadata.yaml
create mode 100644 bags/k_delta_const2/k_delta_const2_0.db3
create mode 100644 bags/k_delta_const2/metadata.yaml
create mode 100644 bags/velocity_const/metadata.yaml
create mode 100644 bags/velocity_const/velocity_const_0.db3
create mode 100644 bags/velocity_joints_const/metadata.yaml
create mode 100644 bags/velocity_joints_const/velocity_joints_const_0.db3
create mode 100644 bags/velocity_joints_tr/metadata.yaml
create mode 100644 bags/velocity_joints_tr/velocity_joints_tr_0.db3
create mode 100644 bags/velocity_tr/metadata.yaml
create mode 100644 bags/velocity_tr/velocity_tr_0.db3
create mode 100644 ros2_ws/.vscode/c_cpp_properties.json
create mode 100644 ros2_ws/.vscode/settings.json
diff --git a/bags/1dof_joint_st_const/1dof_joint_st_const_0.db3 b/bags/1dof_joint_st_const/1dof_joint_st_const_0.db3
new file mode 100644
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diff --git a/bags/1dof_joint_st_const/metadata.yaml b/bags/1dof_joint_st_const/metadata.yaml
new file mode 100644
index 0000000..19677a6
--- /dev/null
+++ b/bags/1dof_joint_st_const/metadata.yaml
@@ -0,0 +1,26 @@
+rosbag2_bagfile_information:
+ version: 5
+ storage_identifier: sqlite3
+ duration:
+ nanoseconds: 7099978975
+ starting_time:
+ nanoseconds_since_epoch: 1726237099209133061
+ message_count: 72
+ topics_with_message_count:
+ - topic_metadata:
+ name: /joint_states
+ type: sensor_msgs/msg/JointState
+ serialization_format: cdr
+ offered_qos_profiles: "- history: 3\n depth: 0\n reliability: 1\n durability: 2\n deadline:\n sec: 9223372036\n nsec: 854775807\n lifespan:\n sec: 9223372036\n nsec: 854775807\n liveliness: 1\n liveliness_lease_duration:\n sec: 9223372036\n nsec: 854775807\n avoid_ros_namespace_conventions: false"
+ message_count: 72
+ compression_format: ""
+ compression_mode: ""
+ relative_file_paths:
+ - 1dof_joint_st_const_0.db3
+ files:
+ - path: 1dof_joint_st_const_0.db3
+ starting_time:
+ nanoseconds_since_epoch: 1726237099209133061
+ duration:
+ nanoseconds: 7099978975
+ message_count: 72
\ No newline at end of file
diff --git a/bags/1dof_joint_states/1dof_joint_states_0.db3 b/bags/1dof_joint_states/1dof_joint_states_0.db3
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diff --git a/bags/1dof_joint_states/metadata.yaml b/bags/1dof_joint_states/metadata.yaml
new file mode 100644
index 0000000..7f1b712
--- /dev/null
+++ b/bags/1dof_joint_states/metadata.yaml
@@ -0,0 +1,26 @@
+rosbag2_bagfile_information:
+ version: 5
+ storage_identifier: sqlite3
+ duration:
+ nanoseconds: 7000491838
+ starting_time:
+ nanoseconds_since_epoch: 1726237058744126269
+ message_count: 71
+ topics_with_message_count:
+ - topic_metadata:
+ name: /joint_states
+ type: sensor_msgs/msg/JointState
+ serialization_format: cdr
+ offered_qos_profiles: "- history: 3\n depth: 0\n reliability: 1\n durability: 2\n deadline:\n sec: 9223372036\n nsec: 854775807\n lifespan:\n sec: 9223372036\n nsec: 854775807\n liveliness: 1\n liveliness_lease_duration:\n sec: 9223372036\n nsec: 854775807\n avoid_ros_namespace_conventions: false"
+ message_count: 71
+ compression_format: ""
+ compression_mode: ""
+ relative_file_paths:
+ - 1dof_joint_states_0.db3
+ files:
+ - path: 1dof_joint_states_0.db3
+ starting_time:
+ nanoseconds_since_epoch: 1726237058744126269
+ duration:
+ nanoseconds: 7000491838
+ message_count: 71
\ No newline at end of file
diff --git a/bags/2dof_joint_states/2dof_joint_states_0.db3 b/bags/2dof_joint_states/2dof_joint_states_0.db3
new file mode 100644
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HcmV?d00001
diff --git a/bags/2dof_joint_states/metadata.yaml b/bags/2dof_joint_states/metadata.yaml
new file mode 100644
index 0000000..1944d29
--- /dev/null
+++ b/bags/2dof_joint_states/metadata.yaml
@@ -0,0 +1,32 @@
+rosbag2_bagfile_information:
+ version: 5
+ storage_identifier: sqlite3
+ duration:
+ nanoseconds: 6700788176
+ starting_time:
+ nanoseconds_since_epoch: 1724539059110057897
+ message_count: 136
+ topics_with_message_count:
+ - topic_metadata:
+ name: /joint_states
+ type: sensor_msgs/msg/JointState
+ serialization_format: cdr
+ offered_qos_profiles: "- history: 3\n depth: 0\n reliability: 1\n durability: 2\n deadline:\n sec: 9223372036\n nsec: 854775807\n lifespan:\n sec: 9223372036\n nsec: 854775807\n liveliness: 1\n liveliness_lease_duration:\n sec: 9223372036\n nsec: 854775807\n avoid_ros_namespace_conventions: false"
+ message_count: 68
+ - topic_metadata:
+ name: /dof2/reference_angles
+ type: std_msgs/msg/Float64
+ serialization_format: cdr
+ offered_qos_profiles: "- history: 3\n depth: 0\n reliability: 1\n durability: 2\n deadline:\n sec: 9223372036\n nsec: 854775807\n lifespan:\n sec: 9223372036\n nsec: 854775807\n liveliness: 1\n liveliness_lease_duration:\n sec: 9223372036\n nsec: 854775807\n avoid_ros_namespace_conventions: false"
+ message_count: 68
+ compression_format: ""
+ compression_mode: ""
+ relative_file_paths:
+ - 2dof_joint_states_0.db3
+ files:
+ - path: 2dof_joint_states_0.db3
+ starting_time:
+ nanoseconds_since_epoch: 1724539059110057897
+ duration:
+ nanoseconds: 6700788176
+ message_count: 136
\ No newline at end of file
diff --git a/bags/2dof_joint_states_sim/2dof_joint_states_sim_0.db3 b/bags/2dof_joint_states_sim/2dof_joint_states_sim_0.db3
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diff --git a/bags/2dof_joint_states_sim/metadata.yaml b/bags/2dof_joint_states_sim/metadata.yaml
new file mode 100644
index 0000000..c8efe4d
--- /dev/null
+++ b/bags/2dof_joint_states_sim/metadata.yaml
@@ -0,0 +1,32 @@
+rosbag2_bagfile_information:
+ version: 5
+ storage_identifier: sqlite3
+ duration:
+ nanoseconds: 6903862638
+ starting_time:
+ nanoseconds_since_epoch: 1729846114700646064
+ message_count: 140
+ topics_with_message_count:
+ - topic_metadata:
+ name: /joint_states
+ type: sensor_msgs/msg/JointState
+ serialization_format: cdr
+ offered_qos_profiles: "- history: 3\n depth: 0\n reliability: 1\n durability: 2\n deadline:\n sec: 9223372036\n nsec: 854775807\n lifespan:\n sec: 9223372036\n nsec: 854775807\n liveliness: 1\n liveliness_lease_duration:\n sec: 9223372036\n nsec: 854775807\n avoid_ros_namespace_conventions: false"
+ message_count: 70
+ - topic_metadata:
+ name: /dof2/reference_angles
+ type: std_msgs/msg/Float64
+ serialization_format: cdr
+ offered_qos_profiles: "- history: 3\n depth: 0\n reliability: 1\n durability: 2\n deadline:\n sec: 9223372036\n nsec: 854775807\n lifespan:\n sec: 9223372036\n nsec: 854775807\n liveliness: 1\n liveliness_lease_duration:\n sec: 9223372036\n nsec: 854775807\n avoid_ros_namespace_conventions: false"
+ message_count: 70
+ compression_format: ""
+ compression_mode: ""
+ relative_file_paths:
+ - 2dof_joint_states_sim_0.db3
+ files:
+ - path: 2dof_joint_states_sim_0.db3
+ starting_time:
+ nanoseconds_since_epoch: 1729846114700646064
+ duration:
+ nanoseconds: 6903862638
+ message_count: 140
\ No newline at end of file
diff --git a/bags/2dof_joint_states_suc/2dof_joint_states_suc_0.db3 b/bags/2dof_joint_states_suc/2dof_joint_states_suc_0.db3
new file mode 100644
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HcmV?d00001
diff --git a/bags/2dof_joint_states_suc/metadata.yaml b/bags/2dof_joint_states_suc/metadata.yaml
new file mode 100644
index 0000000..dcc4485
--- /dev/null
+++ b/bags/2dof_joint_states_suc/metadata.yaml
@@ -0,0 +1,32 @@
+rosbag2_bagfile_information:
+ version: 5
+ storage_identifier: sqlite3
+ duration:
+ nanoseconds: 13902397347
+ starting_time:
+ nanoseconds_since_epoch: 1725462732116424215
+ message_count: 280
+ topics_with_message_count:
+ - topic_metadata:
+ name: /dof2/reference_angles
+ type: std_msgs/msg/Float64
+ serialization_format: cdr
+ offered_qos_profiles: "- history: 3\n depth: 0\n reliability: 1\n durability: 2\n deadline:\n sec: 9223372036\n nsec: 854775807\n lifespan:\n sec: 9223372036\n nsec: 854775807\n liveliness: 1\n liveliness_lease_duration:\n sec: 9223372036\n nsec: 854775807\n avoid_ros_namespace_conventions: false"
+ message_count: 140
+ - topic_metadata:
+ name: /joint_states
+ type: sensor_msgs/msg/JointState
+ serialization_format: cdr
+ offered_qos_profiles: "- history: 3\n depth: 0\n reliability: 1\n durability: 2\n deadline:\n sec: 9223372036\n nsec: 854775807\n lifespan:\n sec: 9223372036\n nsec: 854775807\n liveliness: 1\n liveliness_lease_duration:\n sec: 9223372036\n nsec: 854775807\n avoid_ros_namespace_conventions: false"
+ message_count: 140
+ compression_format: ""
+ compression_mode: ""
+ relative_file_paths:
+ - 2dof_joint_states_suc_0.db3
+ files:
+ - path: 2dof_joint_states_suc_0.db3
+ starting_time:
+ nanoseconds_since_epoch: 1725462732116424215
+ duration:
+ nanoseconds: 13902397347
+ message_count: 280
\ No newline at end of file
diff --git a/bags/2dof_joint_states_successive/2dof_joint_states_successive_0.db3 b/bags/2dof_joint_states_successive/2dof_joint_states_successive_0.db3
new file mode 100644
index 0000000000000000000000000000000000000000..354188155a6cab0b650301915e3a0ef3f5a18e7f
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diff --git a/bags/2dof_joint_states_successive/metadata.yaml b/bags/2dof_joint_states_successive/metadata.yaml
new file mode 100644
index 0000000..e72d3e3
--- /dev/null
+++ b/bags/2dof_joint_states_successive/metadata.yaml
@@ -0,0 +1,32 @@
+rosbag2_bagfile_information:
+ version: 5
+ storage_identifier: sqlite3
+ duration:
+ nanoseconds: 13500019897
+ starting_time:
+ nanoseconds_since_epoch: 1724540296127125140
+ message_count: 272
+ topics_with_message_count:
+ - topic_metadata:
+ name: /joint_states
+ type: sensor_msgs/msg/JointState
+ serialization_format: cdr
+ offered_qos_profiles: "- history: 3\n depth: 0\n reliability: 1\n durability: 2\n deadline:\n sec: 9223372036\n nsec: 854775807\n lifespan:\n sec: 9223372036\n nsec: 854775807\n liveliness: 1\n liveliness_lease_duration:\n sec: 9223372036\n nsec: 854775807\n avoid_ros_namespace_conventions: false"
+ message_count: 136
+ - topic_metadata:
+ name: /dof2/reference_angles
+ type: std_msgs/msg/Float64
+ serialization_format: cdr
+ offered_qos_profiles: "- history: 3\n depth: 0\n reliability: 1\n durability: 2\n deadline:\n sec: 9223372036\n nsec: 854775807\n lifespan:\n sec: 9223372036\n nsec: 854775807\n liveliness: 1\n liveliness_lease_duration:\n sec: 9223372036\n nsec: 854775807\n avoid_ros_namespace_conventions: false"
+ message_count: 136
+ compression_format: ""
+ compression_mode: ""
+ relative_file_paths:
+ - 2dof_joint_states_successive_0.db3
+ files:
+ - path: 2dof_joint_states_successive_0.db3
+ starting_time:
+ nanoseconds_since_epoch: 1724540296127125140
+ duration:
+ nanoseconds: 13500019897
+ message_count: 272
\ No newline at end of file
diff --git a/bags/3dof_joint_states_sim/3dof_joint_states_sim_0.db3 b/bags/3dof_joint_states_sim/3dof_joint_states_sim_0.db3
new file mode 100644
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diff --git a/bags/3dof_joint_states_sim/metadata.yaml b/bags/3dof_joint_states_sim/metadata.yaml
new file mode 100644
index 0000000..f2a917a
--- /dev/null
+++ b/bags/3dof_joint_states_sim/metadata.yaml
@@ -0,0 +1,32 @@
+rosbag2_bagfile_information:
+ version: 5
+ storage_identifier: sqlite3
+ duration:
+ nanoseconds: 6900558309
+ starting_time:
+ nanoseconds_since_epoch: 1729850279927608834
+ message_count: 140
+ topics_with_message_count:
+ - topic_metadata:
+ name: /joint_states
+ type: sensor_msgs/msg/JointState
+ serialization_format: cdr
+ offered_qos_profiles: "- history: 3\n depth: 0\n reliability: 1\n durability: 2\n deadline:\n sec: 9223372036\n nsec: 854775807\n lifespan:\n sec: 9223372036\n nsec: 854775807\n liveliness: 1\n liveliness_lease_duration:\n sec: 9223372036\n nsec: 854775807\n avoid_ros_namespace_conventions: false"
+ message_count: 70
+ - topic_metadata:
+ name: /dof3/reference_angles
+ type: std_msgs/msg/Float64
+ serialization_format: cdr
+ offered_qos_profiles: "- history: 3\n depth: 0\n reliability: 1\n durability: 2\n deadline:\n sec: 9223372036\n nsec: 854775807\n lifespan:\n sec: 9223372036\n nsec: 854775807\n liveliness: 1\n liveliness_lease_duration:\n sec: 9223372036\n nsec: 854775807\n avoid_ros_namespace_conventions: false"
+ message_count: 70
+ compression_format: ""
+ compression_mode: ""
+ relative_file_paths:
+ - 3dof_joint_states_sim_0.db3
+ files:
+ - path: 3dof_joint_states_sim_0.db3
+ starting_time:
+ nanoseconds_since_epoch: 1729850279927608834
+ duration:
+ nanoseconds: 6900558309
+ message_count: 140
\ No newline at end of file
diff --git a/bags/3dof_joint_states_suc/3dof_joint_states_suc_0.db3 b/bags/3dof_joint_states_suc/3dof_joint_states_suc_0.db3
new file mode 100644
index 0000000000000000000000000000000000000000..370b1777de7e4fcf1ea493634d5d1f49208d596c
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diff --git a/bags/3dof_joint_states_suc/metadata.yaml b/bags/3dof_joint_states_suc/metadata.yaml
new file mode 100644
index 0000000..7929784
--- /dev/null
+++ b/bags/3dof_joint_states_suc/metadata.yaml
@@ -0,0 +1,32 @@
+rosbag2_bagfile_information:
+ version: 5
+ storage_identifier: sqlite3
+ duration:
+ nanoseconds: 13600250779
+ starting_time:
+ nanoseconds_since_epoch: 1729850760150114047
+ message_count: 274
+ topics_with_message_count:
+ - topic_metadata:
+ name: /joint_states
+ type: sensor_msgs/msg/JointState
+ serialization_format: cdr
+ offered_qos_profiles: "- history: 3\n depth: 0\n reliability: 1\n durability: 2\n deadline:\n sec: 9223372036\n nsec: 854775807\n lifespan:\n sec: 9223372036\n nsec: 854775807\n liveliness: 1\n liveliness_lease_duration:\n sec: 9223372036\n nsec: 854775807\n avoid_ros_namespace_conventions: false"
+ message_count: 137
+ - topic_metadata:
+ name: /dof3/reference_angles
+ type: std_msgs/msg/Float64
+ serialization_format: cdr
+ offered_qos_profiles: "- history: 3\n depth: 0\n reliability: 1\n durability: 2\n deadline:\n sec: 9223372036\n nsec: 854775807\n lifespan:\n sec: 9223372036\n nsec: 854775807\n liveliness: 1\n liveliness_lease_duration:\n sec: 9223372036\n nsec: 854775807\n avoid_ros_namespace_conventions: false"
+ message_count: 137
+ compression_format: ""
+ compression_mode: ""
+ relative_file_paths:
+ - 3dof_joint_states_suc_0.db3
+ files:
+ - path: 3dof_joint_states_suc_0.db3
+ starting_time:
+ nanoseconds_since_epoch: 1729850760150114047
+ duration:
+ nanoseconds: 13600250779
+ message_count: 274
\ No newline at end of file
diff --git a/bags/3dof_joint_states_successive/3dof_joint_states_successive_0.db3 b/bags/3dof_joint_states_successive/3dof_joint_states_successive_0.db3
new file mode 100644
index 0000000000000000000000000000000000000000..6fa76ddac1e7a98dd3b89605e0c4cbe15a95bda4
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diff --git a/bags/3dof_joint_states_successive/metadata.yaml b/bags/3dof_joint_states_successive/metadata.yaml
new file mode 100644
index 0000000..e24538d
--- /dev/null
+++ b/bags/3dof_joint_states_successive/metadata.yaml
@@ -0,0 +1,32 @@
+rosbag2_bagfile_information:
+ version: 5
+ storage_identifier: sqlite3
+ duration:
+ nanoseconds: 13599133451
+ starting_time:
+ nanoseconds_since_epoch: 1724582900522582783
+ message_count: 274
+ topics_with_message_count:
+ - topic_metadata:
+ name: /dof3/reference_angles
+ type: std_msgs/msg/Float64
+ serialization_format: cdr
+ offered_qos_profiles: "- history: 3\n depth: 0\n reliability: 1\n durability: 2\n deadline:\n sec: 9223372036\n nsec: 854775807\n lifespan:\n sec: 9223372036\n nsec: 854775807\n liveliness: 1\n liveliness_lease_duration:\n sec: 9223372036\n nsec: 854775807\n avoid_ros_namespace_conventions: false"
+ message_count: 137
+ - topic_metadata:
+ name: /joint_states
+ type: sensor_msgs/msg/JointState
+ serialization_format: cdr
+ offered_qos_profiles: "- history: 3\n depth: 0\n reliability: 1\n durability: 2\n deadline:\n sec: 9223372036\n nsec: 854775807\n lifespan:\n sec: 9223372036\n nsec: 854775807\n liveliness: 1\n liveliness_lease_duration:\n sec: 9223372036\n nsec: 854775807\n avoid_ros_namespace_conventions: false"
+ message_count: 137
+ compression_format: ""
+ compression_mode: ""
+ relative_file_paths:
+ - 3dof_joint_states_successive_0.db3
+ files:
+ - path: 3dof_joint_states_successive_0.db3
+ starting_time:
+ nanoseconds_since_epoch: 1724582900522582783
+ duration:
+ nanoseconds: 13599133451
+ message_count: 274
\ No newline at end of file
diff --git a/bags/joint_states_3dof_simultaneous/joint_states_3dof_simultaneous_0.db3 b/bags/joint_states_3dof_simultaneous/joint_states_3dof_simultaneous_0.db3
new file mode 100644
index 0000000000000000000000000000000000000000..b6091f87cbe5a90603486941755fd26f702bf475
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diff --git a/bags/joint_states_3dof_simultaneous/metadata.yaml b/bags/joint_states_3dof_simultaneous/metadata.yaml
new file mode 100644
index 0000000..bbd074c
--- /dev/null
+++ b/bags/joint_states_3dof_simultaneous/metadata.yaml
@@ -0,0 +1,32 @@
+rosbag2_bagfile_information:
+ version: 5
+ storage_identifier: sqlite3
+ duration:
+ nanoseconds: 6900844069
+ starting_time:
+ nanoseconds_since_epoch: 1724581846593375861
+ message_count: 140
+ topics_with_message_count:
+ - topic_metadata:
+ name: /dof3/reference_angles
+ type: std_msgs/msg/Float64
+ serialization_format: cdr
+ offered_qos_profiles: "- history: 3\n depth: 0\n reliability: 1\n durability: 2\n deadline:\n sec: 9223372036\n nsec: 854775807\n lifespan:\n sec: 9223372036\n nsec: 854775807\n liveliness: 1\n liveliness_lease_duration:\n sec: 9223372036\n nsec: 854775807\n avoid_ros_namespace_conventions: false"
+ message_count: 70
+ - topic_metadata:
+ name: /joint_states
+ type: sensor_msgs/msg/JointState
+ serialization_format: cdr
+ offered_qos_profiles: "- history: 3\n depth: 0\n reliability: 1\n durability: 2\n deadline:\n sec: 9223372036\n nsec: 854775807\n lifespan:\n sec: 9223372036\n nsec: 854775807\n liveliness: 1\n liveliness_lease_duration:\n sec: 9223372036\n nsec: 854775807\n avoid_ros_namespace_conventions: false"
+ message_count: 70
+ compression_format: ""
+ compression_mode: ""
+ relative_file_paths:
+ - joint_states_3dof_simultaneous_0.db3
+ files:
+ - path: joint_states_3dof_simultaneous_0.db3
+ starting_time:
+ nanoseconds_since_epoch: 1724581846593375861
+ duration:
+ nanoseconds: 6900844069
+ message_count: 140
\ No newline at end of file
diff --git a/bags/k_delta_acc1/k_delta_acc1_0.db3 b/bags/k_delta_acc1/k_delta_acc1_0.db3
new file mode 100644
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diff --git a/bags/k_delta_acc1/metadata.yaml b/bags/k_delta_acc1/metadata.yaml
new file mode 100644
index 0000000..a3ff66f
--- /dev/null
+++ b/bags/k_delta_acc1/metadata.yaml
@@ -0,0 +1,32 @@
+rosbag2_bagfile_information:
+ version: 5
+ storage_identifier: sqlite3
+ duration:
+ nanoseconds: 6699784579
+ starting_time:
+ nanoseconds_since_epoch: 1724515646187234389
+ message_count: 136
+ topics_with_message_count:
+ - topic_metadata:
+ name: /delta
+ type: std_msgs/msg/Float64
+ serialization_format: cdr
+ offered_qos_profiles: "- history: 3\n depth: 0\n reliability: 1\n durability: 2\n deadline:\n sec: 9223372036\n nsec: 854775807\n lifespan:\n sec: 9223372036\n nsec: 854775807\n liveliness: 1\n liveliness_lease_duration:\n sec: 9223372036\n nsec: 854775807\n avoid_ros_namespace_conventions: false"
+ message_count: 68
+ - topic_metadata:
+ name: /dof1/reference_angles
+ type: std_msgs/msg/Float64
+ serialization_format: cdr
+ offered_qos_profiles: "- history: 3\n depth: 0\n reliability: 1\n durability: 2\n deadline:\n sec: 9223372036\n nsec: 854775807\n lifespan:\n sec: 9223372036\n nsec: 854775807\n liveliness: 1\n liveliness_lease_duration:\n sec: 9223372036\n nsec: 854775807\n avoid_ros_namespace_conventions: false"
+ message_count: 68
+ compression_format: ""
+ compression_mode: ""
+ relative_file_paths:
+ - k_delta_acc1_0.db3
+ files:
+ - path: k_delta_acc1_0.db3
+ starting_time:
+ nanoseconds_since_epoch: 1724515646187234389
+ duration:
+ nanoseconds: 6699784579
+ message_count: 136
\ No newline at end of file
diff --git a/bags/k_delta_acc2/k_delta_acc2_0.db3 b/bags/k_delta_acc2/k_delta_acc2_0.db3
new file mode 100644
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diff --git a/bags/k_delta_acc2/metadata.yaml b/bags/k_delta_acc2/metadata.yaml
new file mode 100644
index 0000000..0bb6b49
--- /dev/null
+++ b/bags/k_delta_acc2/metadata.yaml
@@ -0,0 +1,32 @@
+rosbag2_bagfile_information:
+ version: 5
+ storage_identifier: sqlite3
+ duration:
+ nanoseconds: 6699898398
+ starting_time:
+ nanoseconds_since_epoch: 1724515767617045047
+ message_count: 136
+ topics_with_message_count:
+ - topic_metadata:
+ name: /dof1/reference_angles
+ type: std_msgs/msg/Float64
+ serialization_format: cdr
+ offered_qos_profiles: "- history: 3\n depth: 0\n reliability: 1\n durability: 2\n deadline:\n sec: 9223372036\n nsec: 854775807\n lifespan:\n sec: 9223372036\n nsec: 854775807\n liveliness: 1\n liveliness_lease_duration:\n sec: 9223372036\n nsec: 854775807\n avoid_ros_namespace_conventions: false"
+ message_count: 68
+ - topic_metadata:
+ name: /delta
+ type: std_msgs/msg/Float64
+ serialization_format: cdr
+ offered_qos_profiles: "- history: 3\n depth: 0\n reliability: 1\n durability: 2\n deadline:\n sec: 9223372036\n nsec: 854775807\n lifespan:\n sec: 9223372036\n nsec: 854775807\n liveliness: 1\n liveliness_lease_duration:\n sec: 9223372036\n nsec: 854775807\n avoid_ros_namespace_conventions: false"
+ message_count: 68
+ compression_format: ""
+ compression_mode: ""
+ relative_file_paths:
+ - k_delta_acc2_0.db3
+ files:
+ - path: k_delta_acc2_0.db3
+ starting_time:
+ nanoseconds_since_epoch: 1724515767617045047
+ duration:
+ nanoseconds: 6699898398
+ message_count: 136
\ No newline at end of file
diff --git a/bags/k_delta_acc4/k_delta_acc4_0.db3 b/bags/k_delta_acc4/k_delta_acc4_0.db3
new file mode 100644
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diff --git a/bags/k_delta_acc4/metadata.yaml b/bags/k_delta_acc4/metadata.yaml
new file mode 100644
index 0000000..94b0dd9
--- /dev/null
+++ b/bags/k_delta_acc4/metadata.yaml
@@ -0,0 +1,32 @@
+rosbag2_bagfile_information:
+ version: 5
+ storage_identifier: sqlite3
+ duration:
+ nanoseconds: 6999858671
+ starting_time:
+ nanoseconds_since_epoch: 1724521293800191462
+ message_count: 142
+ topics_with_message_count:
+ - topic_metadata:
+ name: /delta
+ type: std_msgs/msg/Float64
+ serialization_format: cdr
+ offered_qos_profiles: "- history: 3\n depth: 0\n reliability: 1\n durability: 2\n deadline:\n sec: 9223372036\n nsec: 854775807\n lifespan:\n sec: 9223372036\n nsec: 854775807\n liveliness: 1\n liveliness_lease_duration:\n sec: 9223372036\n nsec: 854775807\n avoid_ros_namespace_conventions: false"
+ message_count: 71
+ - topic_metadata:
+ name: /dof1/reference_angles
+ type: std_msgs/msg/Float64
+ serialization_format: cdr
+ offered_qos_profiles: "- history: 3\n depth: 0\n reliability: 1\n durability: 2\n deadline:\n sec: 9223372036\n nsec: 854775807\n lifespan:\n sec: 9223372036\n nsec: 854775807\n liveliness: 1\n liveliness_lease_duration:\n sec: 9223372036\n nsec: 854775807\n avoid_ros_namespace_conventions: false"
+ message_count: 71
+ compression_format: ""
+ compression_mode: ""
+ relative_file_paths:
+ - k_delta_acc4_0.db3
+ files:
+ - path: k_delta_acc4_0.db3
+ starting_time:
+ nanoseconds_since_epoch: 1724521293800191462
+ duration:
+ nanoseconds: 6999858671
+ message_count: 142
\ No newline at end of file
diff --git a/bags/k_delta_const1/k_delta_const1_0.db3 b/bags/k_delta_const1/k_delta_const1_0.db3
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diff --git a/bags/k_delta_const1/metadata.yaml b/bags/k_delta_const1/metadata.yaml
new file mode 100644
index 0000000..267274e
--- /dev/null
+++ b/bags/k_delta_const1/metadata.yaml
@@ -0,0 +1,32 @@
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+ storage_identifier: sqlite3
+ duration:
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+ starting_time:
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+ message_count: 134
+ topics_with_message_count:
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+ message_count: 67
+ - topic_metadata:
+ name: /dof1/reference_angles
+ type: std_msgs/msg/Float64
+ serialization_format: cdr
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+ message_count: 67
+ compression_format: ""
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+ files:
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+ starting_time:
+ nanoseconds_since_epoch: 1724511748203377937
+ duration:
+ nanoseconds: 6600930115
+ message_count: 134
\ No newline at end of file
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diff --git a/bags/k_delta_const2/metadata.yaml b/bags/k_delta_const2/metadata.yaml
new file mode 100644
index 0000000..2fbe861
--- /dev/null
+++ b/bags/k_delta_const2/metadata.yaml
@@ -0,0 +1,32 @@
+rosbag2_bagfile_information:
+ version: 5
+ storage_identifier: sqlite3
+ duration:
+ nanoseconds: 7100595316
+ starting_time:
+ nanoseconds_since_epoch: 1724540909073625532
+ message_count: 144
+ topics_with_message_count:
+ - topic_metadata:
+ name: /delta
+ type: std_msgs/msg/Float64
+ serialization_format: cdr
+ offered_qos_profiles: "- history: 3\n depth: 0\n reliability: 1\n durability: 2\n deadline:\n sec: 9223372036\n nsec: 854775807\n lifespan:\n sec: 9223372036\n nsec: 854775807\n liveliness: 1\n liveliness_lease_duration:\n sec: 9223372036\n nsec: 854775807\n avoid_ros_namespace_conventions: false"
+ message_count: 72
+ - topic_metadata:
+ name: /dof1/reference_angles
+ type: std_msgs/msg/Float64
+ serialization_format: cdr
+ offered_qos_profiles: "- history: 3\n depth: 0\n reliability: 1\n durability: 2\n deadline:\n sec: 9223372036\n nsec: 854775807\n lifespan:\n sec: 9223372036\n nsec: 854775807\n liveliness: 1\n liveliness_lease_duration:\n sec: 9223372036\n nsec: 854775807\n avoid_ros_namespace_conventions: false"
+ message_count: 72
+ compression_format: ""
+ compression_mode: ""
+ relative_file_paths:
+ - k_delta_const2_0.db3
+ files:
+ - path: k_delta_const2_0.db3
+ starting_time:
+ nanoseconds_since_epoch: 1724540909073625532
+ duration:
+ nanoseconds: 7100595316
+ message_count: 144
\ No newline at end of file
diff --git a/bags/velocity_const/metadata.yaml b/bags/velocity_const/metadata.yaml
new file mode 100644
index 0000000..371cfac
--- /dev/null
+++ b/bags/velocity_const/metadata.yaml
@@ -0,0 +1,26 @@
+rosbag2_bagfile_information:
+ version: 5
+ storage_identifier: sqlite3
+ duration:
+ nanoseconds: 7001266693
+ starting_time:
+ nanoseconds_since_epoch: 1726235924844050103
+ message_count: 71
+ topics_with_message_count:
+ - topic_metadata:
+ name: /velocity
+ type: std_msgs/msg/Float64
+ serialization_format: cdr
+ offered_qos_profiles: "- history: 3\n depth: 0\n reliability: 1\n durability: 2\n deadline:\n sec: 9223372036\n nsec: 854775807\n lifespan:\n sec: 9223372036\n nsec: 854775807\n liveliness: 1\n liveliness_lease_duration:\n sec: 9223372036\n nsec: 854775807\n avoid_ros_namespace_conventions: false"
+ message_count: 71
+ compression_format: ""
+ compression_mode: ""
+ relative_file_paths:
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+ files:
+ - path: velocity_const_0.db3
+ starting_time:
+ nanoseconds_since_epoch: 1726235924844050103
+ duration:
+ nanoseconds: 7001266693
+ message_count: 71
\ No newline at end of file
diff --git a/bags/velocity_const/velocity_const_0.db3 b/bags/velocity_const/velocity_const_0.db3
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diff --git a/bags/velocity_joints_const/metadata.yaml b/bags/velocity_joints_const/metadata.yaml
new file mode 100644
index 0000000..172e14a
--- /dev/null
+++ b/bags/velocity_joints_const/metadata.yaml
@@ -0,0 +1,32 @@
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+ version: 5
+ storage_identifier: sqlite3
+ duration:
+ nanoseconds: 7104028457
+ starting_time:
+ nanoseconds_since_epoch: 1729860818049739608
+ message_count: 143
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+ - topic_metadata:
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+ - topic_metadata:
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+ duration:
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+ message_count: 143
\ No newline at end of file
diff --git a/bags/velocity_joints_const/velocity_joints_const_0.db3 b/bags/velocity_joints_const/velocity_joints_const_0.db3
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diff --git a/bags/velocity_joints_tr/metadata.yaml b/bags/velocity_joints_tr/metadata.yaml
new file mode 100644
index 0000000..fc5f692
--- /dev/null
+++ b/bags/velocity_joints_tr/metadata.yaml
@@ -0,0 +1,32 @@
+rosbag2_bagfile_information:
+ version: 5
+ storage_identifier: sqlite3
+ duration:
+ nanoseconds: 7009791528
+ starting_time:
+ nanoseconds_since_epoch: 1729860783871840486
+ message_count: 141
+ topics_with_message_count:
+ - topic_metadata:
+ name: /velocity
+ type: std_msgs/msg/Float64
+ serialization_format: cdr
+ offered_qos_profiles: "- history: 3\n depth: 0\n reliability: 1\n durability: 2\n deadline:\n sec: 9223372036\n nsec: 854775807\n lifespan:\n sec: 9223372036\n nsec: 854775807\n liveliness: 1\n liveliness_lease_duration:\n sec: 9223372036\n nsec: 854775807\n avoid_ros_namespace_conventions: false"
+ message_count: 70
+ - topic_metadata:
+ name: /joint_states
+ type: sensor_msgs/msg/JointState
+ serialization_format: cdr
+ offered_qos_profiles: "- history: 3\n depth: 0\n reliability: 1\n durability: 2\n deadline:\n sec: 9223372036\n nsec: 854775807\n lifespan:\n sec: 9223372036\n nsec: 854775807\n liveliness: 1\n liveliness_lease_duration:\n sec: 9223372036\n nsec: 854775807\n avoid_ros_namespace_conventions: false"
+ message_count: 71
+ compression_format: ""
+ compression_mode: ""
+ relative_file_paths:
+ - velocity_joints_tr_0.db3
+ files:
+ - path: velocity_joints_tr_0.db3
+ starting_time:
+ nanoseconds_since_epoch: 1729860783871840486
+ duration:
+ nanoseconds: 7009791528
+ message_count: 141
\ No newline at end of file
diff --git a/bags/velocity_joints_tr/velocity_joints_tr_0.db3 b/bags/velocity_joints_tr/velocity_joints_tr_0.db3
new file mode 100644
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diff --git a/bags/velocity_tr/metadata.yaml b/bags/velocity_tr/metadata.yaml
new file mode 100644
index 0000000..3ec5a39
--- /dev/null
+++ b/bags/velocity_tr/metadata.yaml
@@ -0,0 +1,26 @@
+rosbag2_bagfile_information:
+ version: 5
+ storage_identifier: sqlite3
+ duration:
+ nanoseconds: 6898021908
+ starting_time:
+ nanoseconds_since_epoch: 1726235888597586404
+ message_count: 70
+ topics_with_message_count:
+ - topic_metadata:
+ name: /velocity
+ type: std_msgs/msg/Float64
+ serialization_format: cdr
+ offered_qos_profiles: "- history: 3\n depth: 0\n reliability: 1\n durability: 2\n deadline:\n sec: 9223372036\n nsec: 854775807\n lifespan:\n sec: 9223372036\n nsec: 854775807\n liveliness: 1\n liveliness_lease_duration:\n sec: 9223372036\n nsec: 854775807\n avoid_ros_namespace_conventions: false"
+ message_count: 70
+ compression_format: ""
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diff --git a/ros2_ws/.vscode/c_cpp_properties.json b/ros2_ws/.vscode/c_cpp_properties.json
new file mode 100644
index 0000000..d3a3671
--- /dev/null
+++ b/ros2_ws/.vscode/c_cpp_properties.json
@@ -0,0 +1,26 @@
+{
+ "configurations": [
+ {
+ "browse": {
+ "databaseFilename": "${default}",
+ "limitSymbolsToIncludedHeaders": false
+ },
+ "includePath": [
+ "/home/ventsi/trajektorien-des-menschlichen-aufstehens-fuer-die-entwicklung-eines-kooperativen-assistenzsystems/ros2_ws/install/impedance_controller/include/**",
+ "/home/ventsi/trajektorien-des-menschlichen-aufstehens-fuer-die-entwicklung-eines-kooperativen-assistenzsystems/ros2_ws/install/iiwa_hardware/include/**",
+ "/home/ventsi/trajektorien-des-menschlichen-aufstehens-fuer-die-entwicklung-eines-kooperativen-assistenzsystems/ros2_ws/install/external_torque_sensor_broadcaster/include/**",
+ "/opt/ros/humble/include/**",
+ "/home/ventsi/trajektorien-des-menschlichen-aufstehens-fuer-die-entwicklung-eines-kooperativen-assistenzsystems/ros2_ws/src/iiwa/iiwa_controllers/external_torque_sensor_broadcaster/include/**",
+ "/home/ventsi/trajektorien-des-menschlichen-aufstehens-fuer-die-entwicklung-eines-kooperativen-assistenzsystems/ros2_ws/src/iiwa/iiwa_controllers/impedance_controller/include/**",
+ "/home/ventsi/trajektorien-des-menschlichen-aufstehens-fuer-die-entwicklung-eines-kooperativen-assistenzsystems/ros2_ws/src/iiwa/iiwa_hardware/include/**",
+ "/usr/include/**"
+ ],
+ "name": "ROS",
+ "intelliSenseMode": "gcc-x64",
+ "compilerPath": "/usr/bin/gcc",
+ "cStandard": "gnu11",
+ "cppStandard": "c++14"
+ }
+ ],
+ "version": 4
+}
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diff --git a/ros2_ws/.vscode/settings.json b/ros2_ws/.vscode/settings.json
new file mode 100644
index 0000000..3c3833d
--- /dev/null
+++ b/ros2_ws/.vscode/settings.json
@@ -0,0 +1,20 @@
+{
+ "python.autoComplete.extraPaths": [
+ "/home/ventsi/trajektorien-des-menschlichen-aufstehens-fuer-die-entwicklung-eines-kooperativen-assistenzsystems/ros2_ws/install/simple_robot_inverse_kinematik/lib/python3.10/site-packages",
+ "/home/ventsi/trajektorien-des-menschlichen-aufstehens-fuer-die-entwicklung-eines-kooperativen-assistenzsystems/ros2_ws/install/simple_robot_3dof/lib/python3.10/site-packages",
+ "/home/ventsi/trajektorien-des-menschlichen-aufstehens-fuer-die-entwicklung-eines-kooperativen-assistenzsystems/ros2_ws/install/simple_robot_2dof/lib/python3.10/site-packages",
+ "/home/ventsi/trajektorien-des-menschlichen-aufstehens-fuer-die-entwicklung-eines-kooperativen-assistenzsystems/ros2_ws/install/simple_robot_1dof/lib/python3.10/site-packages",
+ "/home/ventsi/trajektorien-des-menschlichen-aufstehens-fuer-die-entwicklung-eines-kooperativen-assistenzsystems/ros2_ws/install/iiwa_inverse_kinematics/lib/python3.10/site-packages",
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+ "/opt/ros/humble/local/lib/python3.10/dist-packages"
+ ],
+ "python.analysis.extraPaths": [
+ "/home/ventsi/trajektorien-des-menschlichen-aufstehens-fuer-die-entwicklung-eines-kooperativen-assistenzsystems/ros2_ws/install/simple_robot_inverse_kinematik/lib/python3.10/site-packages",
+ "/home/ventsi/trajektorien-des-menschlichen-aufstehens-fuer-die-entwicklung-eines-kooperativen-assistenzsystems/ros2_ws/install/simple_robot_3dof/lib/python3.10/site-packages",
+ "/home/ventsi/trajektorien-des-menschlichen-aufstehens-fuer-die-entwicklung-eines-kooperativen-assistenzsystems/ros2_ws/install/simple_robot_2dof/lib/python3.10/site-packages",
+ "/home/ventsi/trajektorien-des-menschlichen-aufstehens-fuer-die-entwicklung-eines-kooperativen-assistenzsystems/ros2_ws/install/simple_robot_1dof/lib/python3.10/site-packages",
+ "/home/ventsi/trajektorien-des-menschlichen-aufstehens-fuer-die-entwicklung-eines-kooperativen-assistenzsystems/ros2_ws/install/iiwa_inverse_kinematics/lib/python3.10/site-packages",
+ "/opt/ros/humble/lib/python3.10/site-packages",
+ "/opt/ros/humble/local/lib/python3.10/dist-packages"
+ ]
+}
\ No newline at end of file
diff --git a/ros2_ws/src/iiwa/iiwa_description/config/initial_positions_IRS_Lab.yaml b/ros2_ws/src/iiwa/iiwa_description/config/initial_positions_IRS_Lab.yaml
index 06f74ba..f26e74a 100644
--- a/ros2_ws/src/iiwa/iiwa_description/config/initial_positions_IRS_Lab.yaml
+++ b/ros2_ws/src/iiwa/iiwa_description/config/initial_positions_IRS_Lab.yaml
@@ -1,4 +1,6 @@
# Default initial positions for the panda arm's ros2_control fake system
+initial_positions:
+# Default initial positions for the panda arm's ros2_control fake system
initial_positions:
joint_a1: 2.97923
joint_a2: 1.42580
@@ -8,3 +10,12 @@ initial_positions:
joint_a6: 1.72062
joint_a7: 0.01032
+
+ #joint_a1: 2.97923
+ #joint_a2: 1.42580
+ #joint_a3: 0.02157
+ #joint_a4: 1.64101
+ #joint_a5: 0.14299
+ #joint_a6: 1.72062
+ #joint_a7: 0.01032
+
diff --git a/ros2_ws/src/iiwa/iiwa_inverse_kinematics/iiwa_inverse_kinematics/inverse_kinematics_node.py b/ros2_ws/src/iiwa/iiwa_inverse_kinematics/iiwa_inverse_kinematics/inverse_kinematics_node.py
index 879e9a0..964b1c3 100644
--- a/ros2_ws/src/iiwa/iiwa_inverse_kinematics/iiwa_inverse_kinematics/inverse_kinematics_node.py
+++ b/ros2_ws/src/iiwa/iiwa_inverse_kinematics/iiwa_inverse_kinematics/inverse_kinematics_node.py
@@ -50,9 +50,10 @@ class InverseKinematicsNode(Node):
r = Rotation.from_quat(quat)
rotation_matrix = r.as_matrix()
T_sd = RpToTrans(rotation_matrix, np.array([pose.position.x, pose.position.y, pose.position.z]))
- eomg = 1e-4 # Fehlergrenze für Winkel
- ev = 1e-4 # Fehlergrenze für Translation
+ eomg = 1e-4 # error limit for the angle
+ ev = 1e-4 # error limit for the translation
+ # define list of angles that are close to satisfying the pose
self.joint_angles[1] = np.pi/2
self.joint_angles[2] = 0.0
self.joint_angles[3] = np.pi/2
@@ -60,7 +61,7 @@ class InverseKinematicsNode(Node):
self.joint_angles[5] = np.pi/2
self.joint_angles[6] = 0.0
-
+ # call the IKin function from modern robotics library
joint_angles, success = IKinBody(self.Blist, self.M, T_sd, self.joint_angles, eomg, ev)
--
GitLab