Implementing joint state publishing for 3d #10
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Not done reviewing (need to consider your class structure some more) but there are enough things here to address for now.
An additional note: in general, when using other people's work, it should be referenced. Include a link to the repo where you got the URDFs from in your readme.
robot_calibration_3d/include/robot_calibration_3d/joint_state_publisher.h
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robot_calibration_3d/include/robot_calibration_3d/joint_state_publisher.h
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robot_calibration_3d/include/robot_calibration_3d/joint_state_publisher.h
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| last_update_time_ += state_update_interval_duration; | ||
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| // update count to return | ||
| count++; |
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I'm not seeing any reason for this to be tracked outside of the class; especially as the number of joint angle updates we want overall is stored in the class. Instead, make this a private class variable that you can update every time an update is made. Update this function to have return type void and take no input arguments.
| ros::Rate loop_rate(10); | ||
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| // start counting updates | ||
| int count = 0; |
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See comment in joint_state_publisher.cpp about moving this there instead.
| // fill array with 6 new random angles | ||
| // TODO: retrieve angle limits from URDF, rather than hardcoding limits as is done in this function |
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Move these comments to the updateJointStateMessage function, for greater clarity.
| @@ -0,0 +1,89 @@ | |||
| <?xml version="1.0"?> | |||
| <robot xmlns:xacro="http://wiki.ros.org/xacro"> | |||
| <xacro:include filename="$(find fanuc_resources)/urdf/common_colours.xacro"/> | |||
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Currently looking for the fanuc_resources package. Update to robot_calibration_3d
| joint_states_message_.name.push_back("joint_" + std::to_string(i)); | ||
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| // initialise the joint state array of the message with random values for first update | ||
| // TODO: retrieve angle limits from URDF, rather than hardcoding limits as is done in this function |
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Same comment as below; this comment should be moved to the function, so you don't have to duplicate this comment every time you use this function.
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