Add noetic fixes #52
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Add noetic fixes #52
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Changes: - Update OpenCV flag in head_interface.cpp - Properly initiate KDL solvers - Interpolate quaternions with slerp in the example
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…ng Pick&Place example (as in RethinkRobotics/sawyer_simulator#48), by following modifications in RethinkRobotics/sawyer_simulator#52
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In ROS-Noetic, the Sawyer Simulation and the pick-and-place-example, was not properly working.
Three major contributions in this pull request.
KDL::Chainleading e.g.ChainFkSolverPos_recursiveto return a dimension mismatch error (-4). Hence, as a workaround,std::unique_ptr<KDL::Chain>is used in theKinematicsstruct rather than theKDL::Chainattribute.ik_pick_and_place_demo.py, the IK service failed to find solutions. The root cause was the linear interpolation of the quaternions. Therefore, the Slerp interpolation is used for quaternions which seems to resolve the issue.yaml) and catching exceptionsas ein Python 3.Finally, I would like to point out that these fixes should also be tested in ROS-Melodic and ROS-Kinetic.