Initial commit for MPP3H kinematic library and support

[Chamango90]

Kinematic library and support package for the Motoman MPP3H delta robot.

[gavanderhoorn]

Should this go into kinetic-devel? From the commits included I think you use kinetic-devel on your machine, but opened the PR against indigo-devel?

[Chamango90]

Rebased to indigo-devel.

[mathias-luedtke]

test config is missing. @gavanderhoorn: should I provide one?

[mathias-luedtke]

I guess this should get dropped.

[gavanderhoorn]

@ipa-mdl wrote:

test config is missing. @gavanderhoorn: should I provide one?

thanks for the offer, but I think it'd be better if this PR would be targeted at kinetic-devel. We already have Travis set up there, and this repo doesn't really see any development for Indigo.

@ipa-jfh: would it be a big problem for you to submit against kinetic-devel? You don't need to re-open the PR, you could just edit it (top of the page).

[Chamango90]

I could not test this packages on kinetic. @gavanderhoorn: Could you please make a quick test with test_mpp3h.launch of motoman_mpp3h_support?

[gavanderhoorn]

I can probably run it in a Docker container. I don't have the hardware though.

Do you have any experience with Docker? I (or maybe @ipa-mdl) could probably help you get to a point where you can run your package under Kinetic on a Trusty system.

[gavanderhoorn]

Btw: Travis is failing now because your install(..) line is trying to install a config dir that doesn't exist.

[mathias-luedtke]

@gavanderhoorn: We don't have the hardware anymore, the test_mpp3h.launch just starts a joint_state_publisher and RVIZ.

[Chamango90]

Btw: Travis is failing now because your install(..) line is trying to install a config dir that doesn't exist.

Thank you. I fixed the install line.

[gavanderhoorn]

@ipa-mdl wrote:

@gavanderhoorn: We don't have the hardware anymore, [..]

so we can't actually test any changes that might be necessary after review of the current code then?

[mathias-luedtke]

so we can't actually test any changes that might be necessary after review of the current code then?
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Yes, we cannot test it properly with the hardware. But the code is about the kinematics and it can be tested without the hardware :)