手先位置をリセットするメソッドの追加 #8
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@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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Resetフラグを書いてみました。 |
Tiryoh
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Jun 15, 2019
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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！
| self.pose = message.pose | ||
| rospy.loginfo(message.pose) | ||
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| if self.reset_f: |
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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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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。
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#4