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Fix calibration #704

Merged
merged 3 commits into from
Jun 17, 2024
Merged

Fix calibration #704

merged 3 commits into from
Jun 17, 2024

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fmauch
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@fmauch fmauch commented Jun 7, 2024

It seems that for certain robots the calibration extraction and correction fails. This PR fixes this.

Note: This is a ROS 1 backport of UniversalRobots/Universal_Robots_ROS2_Driver#1017

@fmauch fmauch requested a review from VinDp June 7, 2024 08:32
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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Looks good to me!

@fmauch fmauch merged commit a800a75 into UniversalRobots:master Jun 17, 2024
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@fmauch fmauch deleted the fix_calibration branch June 17, 2024 08:51
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2 participants