Fix calibration #1017
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Fix calibration #1017
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Note: the second one fails with our current implementation
There was an error from using std::atan instead of std::atan2. In most cases that seemed to work fine, but with certain calibrations the calculated angle could end up in another quadrant, so atan was returning the wrong angle. We renamed a lot of variables and changed some of the docstrings in order to hopefully make things more understandable in the future.
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Jun 17, 2024
* Make calibration tests parametrizable * Add two more real-world configurations to tests Note: the second one fails with our current implementation * Fix calibration correction There was an error from using std::atan instead of std::atan2. In most cases that seemed to work fine, but with certain calibrations the calculated angle could end up in another quadrant, so atan was returning the wrong angle. We renamed a lot of variables and changed some of the docstrings in order to hopefully make things more understandable in the future. * Add robot model to calibration tests * Add documentation to calibration algorithm * Add a comment on test suite parametrization (cherry picked from commit 557b57e) # Conflicts: # ur_calibration/doc/index.rst
mergify bot
pushed a commit
that referenced
this pull request
Jun 17, 2024
* Make calibration tests parametrizable * Add two more real-world configurations to tests Note: the second one fails with our current implementation * Fix calibration correction There was an error from using std::atan instead of std::atan2. In most cases that seemed to work fine, but with certain calibrations the calculated angle could end up in another quadrant, so atan was returning the wrong angle. We renamed a lot of variables and changed some of the docstrings in order to hopefully make things more understandable in the future. * Add robot model to calibration tests * Add documentation to calibration algorithm * Add a comment on test suite parametrization (cherry picked from commit 557b57e) # Conflicts: # ur_calibration/doc/index.rst
This was referenced Jun 17, 2024
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It seems that for certain robots the calibration extraction and correction fails. This PR aims at fixing this.
ToDo: