Commit 32833c14 authored by Sergi Hernandez's avatar Sergi Hernandez
Browse files

Changed the way to compute the orientation. It only works if the desired pointing axis is x.

parent 4d3ecb96
......@@ -5,7 +5,7 @@ joint_states_watchdog_time_s: 1.0
pointing_frame: "head_camera_link"
pointing_axis: 0
point_frame: "base_link"
point_frame: "torso_lift_link"
pt_enabled: True
pt_max_retries: 1
......
......@@ -421,6 +421,7 @@ bool CIriJointsModule::point_to(double x, double y, double z, double max_vel)
this->unlock();
return false;
}
std::cout << "point to: " << x << "," << y << "," << z << std::endl;
this->point_to_goal.target.point.x = x;
this->point_to_goal.target.point.y = y;
this->point_to_goal.target.point.z = z;
......
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