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手先位置をリセットするメソッドの追加 #8

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merged 4 commits into from Jun 14, 2019

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Kuwamai
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@Kuwamai Kuwamai commented Jun 13, 2019

#4

@Kuwamai Kuwamai changed the title アーム手先位置のリセット 手先位置をリセットするメソッドの追加 Jun 13, 2019
@Kuwamai Kuwamai requested a review from Tiryoh Jun 13, 2019
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@Kuwamai Kuwamai commented Jun 13, 2019

@Tiryoh reset_poseメソッドで変数zero_poseに保存し、ikメソッドで現在のposeとzero_poseの差分を計算しているのですが、こんな感じで良さそうでしょうか。もっといい方法がありそうな気がするので、アドバイスいただきたいです。

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@Kuwamai Kuwamai commented Jun 14, 2019

Resetフラグを書いてみました。

@Kuwamai Kuwamai marked this pull request as ready for review Jun 14, 2019
@Kuwamai Kuwamai merged commit 18301ba into master Jun 14, 2019
@Kuwamai Kuwamai deleted the #04_reset_arm_pos branch Jun 14, 2019
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@Tiryoh Tiryoh left a comment

見ました!研究室で口頭で伝えたけどこのやり方でいいと思います!

rospy.loginfo(message.pose)

if self.reset_f:
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@Tiryoh Tiryoh Jun 15, 2019

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最初だけ呼び出すためならis_firstとかの方がいいんじゃないかなと思いました

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@Kuwamai Kuwamai Jun 16, 2019

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ありがとうございます。
この部分なんですが、callbackで逆運動学を何度も呼び出してしまうのがよくなかったので、callbackに分岐を入れずにクラスのinit時にrospy.wait_for_messageで受け取るように変更しました。

6fba39a#diff-60bf28d8bbac7fe82b5b54e2ff2fe498R11

@Kuwamai Kuwamai self-assigned this Jun 16, 2019
@Kuwamai Kuwamai added enhancement and removed 新機能実装 labels Aug 7, 2019
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2 participants