support: specify OPW joint offsets in degrees. #293
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Use rosparam's support for special 'deg(..)' convenience function (which converts it to radians for us) instead of limited precision manually converted values in radians. See http://wiki.ros.org/rosparam#YAML_Format and JeroenDM/moveit_opw_kinematics_plugin#67.
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An additional advantage of using this function is we now always use the same number of significant digits when specifying the offsets. With manual conversion, the precision would depend on the nr of digits copy-pasted by the author of the |
Levi-Armstrong
approved these changes
Aug 14, 2020
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Thank @Levi-Armstrong 👍 |
This was referenced Jan 27, 2021
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As per subject.
rosparamsupports adeg(..)conversion function which converts its argument to radians, even in.yamlfiles.We can use this to spec OPW's joint offsets in degrees instead of radians.
For context, see JeroenDM/moveit_opw_kinematics_plugin#67.
rosparamdocumentation: wiki/rosparam: YAML Format.