[ForceTorqueSensorBroadcaster] added force and torque offsets to the parameters + export state interfaces #1215
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Codecov ReportAttention: Patch coverage is
Additional details and impacted files@@ Coverage Diff @@
## master #1215 +/- ##
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+ Coverage 80.57% 80.68% +0.11%
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Files 109 109
Lines 9553 9625 +72
Branches 832 841 +9
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+ Hits 7697 7766 +69
- Misses 1578 1579 +1
- Partials 278 280 +2
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saikishor
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saikishor
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bmagyar
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Aug 15, 2024
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| msg.wrench.force.x -= params.offset.force.x; | ||
| msg.wrench.force.y -= params.offset.force.y; | ||
| msg.wrench.force.z -= params.offset.force.z; | ||
| msg.wrench.torque.x -= params.offset.torque.x; | ||
| msg.wrench.torque.y -= params.offset.torque.y; | ||
| msg.wrench.torque.z -= params.offset.torque.z; |
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I don't want to be a nag but I'd reeeeeeeally expect offsets to be added using a +
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A very very fair point!
I'll try to change it ASAP
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Done. I've made the changes. Thanks for the feedback
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Rebased the PR! :) |
…sensor_broadcaster
…xpose interfaces removing the offsets
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This PR allows to define of the offsets of the force and torque through the parameter server. It would also be interesting to make it a chainable controller and expose the interfaces to the other controllers.
Now the offsets are removed and published and the same interfaces are exposed as state interfaces to be able to chain by other controllers