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Feature/add hc10 ikfast plugin and moveit config #1

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Feature/add hc10 ikfast plugin and moveit config #1

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e782fb7
fix build on Ubuntu 22.04
cjue Aug 16, 2023
a99e9f1
typedefs for backwards compatibility to melodic
cjue Aug 16, 2023
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4 changes: 0 additions & 4 deletions motoman_hc10_ikfast_plugin/CMakeLists.txt
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Original file line number Diff line number Diff line change
Expand Up @@ -2,10 +2,6 @@ cmake_minimum_required(VERSION 3.1.3)
project(motoman_hc10_ikfast_plugin)


if(NOT "${CMAKE_CXX_STANDARD}")
set(CMAKE_CXX_STANDARD 14)
endif()
set(CMAKE_CXX_STANDARD_REQUIRED ON)
set(CMAKE_CXX_EXTENSIONS OFF)

if(NOT CMAKE_CONFIGURATION_TYPES AND NOT CMAKE_BUILD_TYPE)
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5 changes: 2 additions & 3 deletions motoman_hc10_ikfast_plugin/src/motoman_hc10_manipulator_ikfast_moveit_plugin.cpp
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Expand Up @@ -379,9 +379,8 @@ bool IKFastKinematicsPlugin::computeRelativeTransform(const std::string& from, c
robot_state = std::make_shared<RobotState>(robot_model_);
robot_state->setToDefaultValues();

bool has_link; // to suppress ROS_ERRORs for non-existent frames
auto* from_link = robot_model_->getLinkModel(from, &has_link);
auto* to_link = robot_model_->getLinkModel(to, &has_link);
auto* from_link = robot_model_->getLinkModel(from);
auto* to_link = robot_model_->getLinkModel(to);
if (!from_link || !to_link)
return false;

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