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Added tcp_offset #110
Added tcp_offset #110
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I cannot find tcp_offset
inside the RTDE guide.
Since you didn't modify the recipe file: Where is that supposed to come from?
It is correct that the function isn't documented in the RTDE guide, but it is still part of the interface. I have modified the recipe file in the ROS driver, but I will go ahead and do it in the examples and the test in this repo as well. |
Should we add a version requirement to the README or maybe even have a version check inside the interfaces where we can do that? Or would that be out of scope for this PR. Since we're raising the required Polyscope version with this PR, I think it makes sense to include something to the README at least. |
I definitely agree that we should update the README with the required polyscope versions. I think that it would be a good idea to have some kind of version check, since we might add more features in the future that is not supported by older versions of polyscope. Since the version is already available in the rtde client it shouldn't be to much of a hassle to add it to this PR. There is probably a bit more work to figure out how to handle older versions in the ROS driver, since the function publishing the wrench is highly dependent on this function, at least for the e-series robots. |
The version would not only affect the RTDE interface, but also primary and dashboard interfaces. Since all of them can be used standalone from this library, version checks would be needed everywhere. |
Codecov ReportBase: 40.35% // Head: 41.07% // Increases project coverage by
Additional details and impacted files@@ Coverage Diff @@
## master #110 +/- ##
==========================================
+ Coverage 40.35% 41.07% +0.71%
==========================================
Files 78 78
Lines 2166 2167 +1
Branches 265 266 +1
==========================================
+ Hits 874 890 +16
+ Misses 1179 1159 -20
- Partials 113 118 +5
Help us with your feedback. Take ten seconds to tell us how you rate us. Have a feature suggestion? Share it here. ☔ View full report at Codecov. |
Yes that look good and gives transparency |
Also added a document for version compatibility in case we ever to a breaking change, again.
The function tcp_offset isn't available before software version 3.12.0 and 5.5.1. It is needed in the ROS driver to transform the the force/torque measurements to the tcp frame.