Commits on Jun 17, 2024

1. Fix calibration (#1017) …

   * 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

   

   fmauch authored and mergify[bot] committed Jun 17, 2024
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