fix Error in latest IK_Fast Plugin ZebraDevs#113 (ZebraDevs#114)

* fix Error in latest IK_Fast Plugin ZebraDevs#113 with moveit 1.0 interface * Related to the fix for issue ZebraDevs#103 PR ZebraDevs#107 used the wrong link
JeffWilson7 · Apr 4, 2019 · 25009cc · 25009cc
1 parent e806238
commit 25009cc
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Showing 3 changed files with 4 additions and 4 deletions.
diff --git a/fetch_ikfast_plugin/include/ikfast.h b/fetch_ikfast_plugin/include/ikfast.h
@@ -92,7 +92,7 @@ class IkSolutionBase
   virtual const std::vector<int>& GetFree() const = 0;
 
   /// \brief the dof of the solution
-  virtual const int GetDOF() const = 0;
+  virtual int GetDOF() const = 0;
 };
 
 /// \brief manages all the solutions
@@ -206,7 +206,7 @@ class IkSolution : public IkSolutionBase<T>
   {
     return _vfree;
   }
-  virtual const int GetDOF() const
+  virtual int GetDOF() const
   {
     return static_cast<int>(_vbasesol.size());
   }

diff --git a/fetch_ikfast_plugin/src/fetch_arm_ikfast_moveit_plugin.cpp b/fetch_ikfast_plugin/src/fetch_arm_ikfast_moveit_plugin.cpp
@@ -163,7 +163,7 @@ class IKFastKinematicsPlugin : public kinematics::KinematicsBase
 
   // The ikfast and base frame are the start and end of the kinematic chain for which the
   // IKFast analytic solution was generated.
-  const std::string IKFAST_TIP_FRAME_ = "gripper_link";
+  const std::string IKFAST_TIP_FRAME_ = "wrist_roll_link";
   const std::string IKFAST_BASE_FRAME_ = "torso_lift_link";
 
   // The transform tip and base bool are set to true if this solver is used with a kinematic

diff --git a/fetch_ikfast_plugin/update_ikfast_plugin.sh b/fetch_ikfast_plugin/update_ikfast_plugin.sh
@@ -1 +1 @@
-rosrun moveit_kinematics create_ikfast_moveit_plugin.py --search_mode=OPTIMIZE_MAX_JOINT --srdf_filename=fetch.srdf --robot_name_in_srdf=fetch --moveit_config_pkg=fetch_moveit_config fetch arm fetch_ikfast_plugin torso_lift_link gripper_link /home/alex/ros/melodic/src/fetch_ros/fetch_ikfast_plugin/src/fetch_arm_ikfast_solver.cpp
+rosrun moveit_kinematics create_ikfast_moveit_plugin.py --search_mode=OPTIMIZE_MAX_JOINT --srdf_filename=fetch.srdf --robot_name_in_srdf=fetch --moveit_config_pkg=fetch_moveit_config fetch arm fetch_ikfast_plugin torso_lift_link wrist_roll_link /home/ijwo/ros/melodic/fetch-sim-test/src/fetch_ros/fetch_ikfast_plugin/src/fetch_arm_ikfast_solver.cpp
Original file line number	Diff line number	Diff line change
		@@ -1 +1 @@
		rosrun moveit_kinematics create_ikfast_moveit_plugin.py --search_mode=OPTIMIZE_MAX_JOINT --srdf_filename=fetch.srdf --robot_name_in_srdf=fetch --moveit_config_pkg=fetch_moveit_config fetch arm fetch_ikfast_plugin torso_lift_link gripper_link /home/alex/ros/melodic/src/fetch_ros/fetch_ikfast_plugin/src/fetch_arm_ikfast_solver.cpp
		rosrun moveit_kinematics create_ikfast_moveit_plugin.py --search_mode=OPTIMIZE_MAX_JOINT --srdf_filename=fetch.srdf --robot_name_in_srdf=fetch --moveit_config_pkg=fetch_moveit_config fetch arm fetch_ikfast_plugin torso_lift_link wrist_roll_link /home/ijwo/ros/melodic/fetch-sim-test/src/fetch_ros/fetch_ikfast_plugin/src/fetch_arm_ikfast_solver.cpp