iCubV2_*: Fix measure of arm ft sensors #265
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
It fixes #233. Basically the problem is that in the child link of the ft sensor joints of the arms we do not have the CSYS, then we are taking it from the parent link. Putting `frame` to `child` make that the `pose` is referring to the correct frame
|
This indeed would fix #233, but only w.r.t. to the FT sensors, while the IMU associated with the FT sensor would still be wrong, right? That is still an improvement, so if you think it make sense to merge please let me know and we can merge. @martinaxgloria @Nicogene |
Yes I think we can merge and then think what to do on IMUs, at lest the FT should be ok now |
Sign up for free
to join this conversation on GitHub.
Already have an account?
Sign in 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Outdated suggestions cannot be applied.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.
It fixes #233.
Basically the problem is that in the child link of the ft sensor joints of the arms we do not have the CSYS, then we are computing the pose wrt the parent link.
Since the frame of the ft sensor should be the joint frame (i.e. the child link frame) setting
frametochildmake that theposeis referring to the correct frame and the measure is now correct.cc @martinaxgloria