Changelog for package qb_chain_control
2.2.3 (2021-11-05)
2.2.2 (2021-08-30)
2.2.1 (2021-08-27)
2.2.0 (2021-08-26)
- Fixed joint limits and default robot movement.
- Minor changes
- QBADV-56 Added a topic to notify the motion request
- Fixed an error that prevents the usage of WAYPOINT modality. Added .yaml file for parsing wayoints.
- Update license
- Fix plugin manifests installation
- Removed some anusefull comments
- Fixed some errors in wrist kinematic and added the last kinematic config(arm_v2).
- Wrist Kinematic implemented.
- Added wrist files to implement the corresponding kinematic (not implemented yet).
- Changed the names of the calsses according to robot configurations described in the guide (qbmove KIT 23/12/2020). for 'arm2' used the library 'trac_ik' for solving inverse kinematic problem.
- fixed some minor bugs
- Ignored the files used by VisualStudio Code.
- Added the scripts for 2-axes wrist implementation. The project compiles but the inverse kinematic equations are wrong.
- Added a third kinematic configuration. The open chain kinematics are named arm1 and arm 2.
- added kinematic controller for arm1 configuration
- Added arm3 kinematic controller and custom message to set velocity and stiffness togheter with end-effector position
- Base class (KitKinematicController) is now less specific. Removed also some hardcoded parts.
- First steps towards class separation. Functioning at this stage but no virtual functions implemented.
- Changed class name (DeltaKinematicController -> KitKinematicController).
- End-effector offset imposed only for wp. In other cases the offset is zero.