Topic/dual arm #1
Merged
Conversation
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
2b-t
suggested changes
Mar 13, 2025
package.xml
Outdated
| @@ -11,7 +11,7 @@ | |||
|
|
|||
| <buildtool_depend>catkin</buildtool_depend> | |||
|
|
|||
| <build_depend>pinocchio</build_depend> | |||
| <!-- <build_depend>pinocchio</build_depend> --> | |||
There was a problem hiding this comment.
Why did we uncomment this? I think it should still be a dependency, right?
There was a problem hiding this comment.
I wonder if this was an issue with pinocchio where it was being rebuilt every time we rebuilt this package.
I will uncomment this in the next revision.
src/Gen3Robot.cpp
Outdated
| @@ -546,6 +583,34 @@ void Gen3Robot::sendGripperVelocityCommand(const float& command) | |||
| } | |||
| } | |||
|
|
|||
| void Gen3Robot::sendGripperEffortCommand(const float& command) | |||
| { | |||
| std::cout << "Sending gripper effort command: " << command << std::endl; | |||
There was a problem hiding this comment.
Is this output still there for a reason? Shouldn't we remove it?
There was a problem hiding this comment.
Yes, let's remove the std::cout.
# for free
to join this conversation on GitHub.
Already have an account?
# to comment
Add this suggestion to a batch that can be applied as a single commit.
This suggestion is invalid because no changes were made to the code.
Suggestions cannot be applied while the pull request is closed.
Suggestions cannot be applied while viewing a subset of changes.
Only one suggestion per line can be applied in a batch.
Add this suggestion to a batch that can be applied as a single commit.
Applying suggestions on deleted lines is not supported.
You must change the existing code in this line in order to create a valid suggestion.
Outdated suggestions cannot be applied.
This suggestion has been applied or marked resolved.
Suggestions cannot be applied from pending reviews.
Suggestions cannot be applied on multi-line comments.
Suggestions cannot be applied while the pull request is queued to merge.
Suggestion cannot be applied right now. Please check back later.
These are the changes we made to the hardware interface for Ros1.
The majority of the changes are made by @2b-t.
The changes we have made permit two arms to be configured meaning we can run two hardware interfaces in parallel pinned to specific cpu cores and the removal of a few heap allocations.