Permalink
Commits on Jul 28, 2014
  1. Merge pull request #25 from hayesbh/master

    Major bugfixes for multi-arm setups - Resolves ActionServer and gripper issues
    wnowak committed Jul 28, 2014
Commits on Jul 15, 2014
Commits on Jun 28, 2014
  1. Fixed indexing problem with new arm initialization code, where it was…

    … still assuming the new config was part of the arm configurations vector before it was actually added.
    hayesbh committed Jun 28, 2014
  2. YouBotConfiguration.h:

      - Removed unused/unnecessary armNameToArmIndexMapping map
      - Changed youBotArmConfigurations to be a vector of YouBotArmConfiguration pointers to avoid problems associated with initializing and passing around YouBotArmConfiguration objects (e.g., unnecessarily duplicating the entire object, unwittingly modifying a copy, etc)
    	-- This ends up fixing some bigger problems, such as allowing for multiple actionlib::ActionServers to coexist (e.g., one per arm).
    
    YouBotConfiguration.cpp:
      - Added deletion of YouBotArmConfiguration pointers in youBotArmConfigurations vector to places where the vector is cleared: The YouBotConfiguration default constructor and destructor.
    
    youbot_oodl.cpp:
      - Fixed indentation issues: File now consistently indented to 4 spaces
    
    YouBotOODLWrapper.h:
      - Changed gripperBar1Position and gripperBar2Position member variables to be vectors, allowing for multiple arms in the system.
    
    YouBotOODLWrapper.cpp:
      - Most code changes are to support the change from YouBotArmConfiguration to YouBotArmConfiguration* in the youBotArmConfigurations vector.
      	-- This change could also have been done by using reference to a vector element (e.g., YouBotArmConfiguration &armConfig = youBotConfiguration.youBotArmConfigurations[armIndex]), but using a pointer protects against misuse/inadvertent duplication.
      - Changed commandTopicName for each arm to be the arm's given name from the launch configuration file. If users want arm_1, arm_2, etc., they can specify it in their launch file. This allows for other naming schemes to be used, and seems more consistent with the idea of having the armName parameter.
      - Fixed bug that prevented gripper positions from being reported when more than one arm was initialized:
    	-- The YouBotOODLWrapper::gripperBar1Position and gripperBar2Position member variables only work for a single arm setup. By changing these to vectors of youbot::GripperSensedBarPosition objects, we can support multiple arms.
    	-- Having multiple arms also poses a problem with the way gripperCycleCounter counts down/reports positions. Moving this counter logic outside the arm iteration loop avoids this issue.
      - Added code to set "armName/joint_limits/jointname_lower" and "/armName/joint_limits/jointname_upper" parameters on arm initialization, indicating the minimum and maximum values for each joint in the arm (post-calibration). This is convenient for control applications to have readily available.
    hayesbh committed Jun 28, 2014
Commits on Oct 18, 2013
  1. Merge pull request #22 from mas-group/master

    Bug fixes for boost 1.49, redeclarated variable, the visualization of wheels and Groovy adaptions for the simulation
    frederikhegger committed Oct 18, 2013
Commits on Oct 9, 2013
Commits on Aug 16, 2013
Commits on Aug 15, 2013
  1. change units to meter

    frederikhegger committed Aug 15, 2013
Commits on Aug 14, 2013
  1. add rosinstall command to debs script

    Frederik Hegger committed Aug 14, 2013
Commits on Aug 12, 2013
  1. Merge branch 'master' of github.com:youbot/youbot-ros-pkg into review…

    …-master
    Frederik Hegger committed Aug 12, 2013
  2. Merge pull request #1 from shehzi001/master

    add boost header to fix problem with to_string function with boost 1.49
    frederikhegger committed Aug 12, 2013
Commits on Feb 27, 2013
  1. Merge pull request #19 from mfaessle/master

    Minor bug fix in the oodl wrapper
    frederikhegger committed Feb 27, 2013
Commits on Feb 15, 2013
  1. Merge branch 'fuerte'

    Jan Paulus committed Feb 15, 2013
  2. Update README.md

    frederikhegger committed with Jan Paulus Feb 14, 2013
  3. Merge remote-tracking branch 'refs/remotes/origin/master'

    Conflicts:
    	youbot_diagnostics/youbot_dashboard/src/youbot_dashboard/pr2_frame.py
    Jan Paulus committed Feb 15, 2013
Commits on Feb 14, 2013
  1. Update README.md

    frederikhegger committed Feb 14, 2013
  2. fix a problem while reconnecting after the EtherCAT connection has be…

    …en lost
    Jan Paulus committed Feb 14, 2013
Commits on Feb 7, 2013
Commits on Feb 5, 2013
  1. Update README.md

    Jan Paulus committed Feb 5, 2013
  2. Update README.md

    Jan Paulus committed Feb 5, 2013
  3. Update README.md

    Jan Paulus committed Feb 5, 2013
  4. Update README.md

    Jan Paulus committed Feb 5, 2013
  5. add readme file

    Jan Paulus committed Feb 5, 2013
  6. add repository.rosinstall and repository.debs file to make the instal…

    …lation easier
    Jan Paulus committed Feb 5, 2013