Make consistent repositories for ROS packages. Fix problem when runni…

…ng Pick&Place example (as in RethinkRobotics/sawyer_simulator#48), by following modifications in RethinkRobotics/sawyer_simulator#52
tunglm2203 · Jun 23, 2023 · 2b68f0b · 2b68f0b
1 parent 77ef9f3
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diff --git a/sawyer_gazebo/include/sawyer_gazebo/arm_kinematics_interface.h b/sawyer_gazebo/include/sawyer_gazebo/arm_kinematics_interface.h
@@ -54,7 +54,7 @@ bool init(ros::NodeHandle& nh, std::string side);
 
 struct Kinematics
 {
-  KDL::Chain chain;
+  std::unique_ptr<KDL::Chain> chain;
   std::vector<std::string> joint_names;
   std::unique_ptr<KDL::ChainFkSolverPos_recursive> fk_pos_solver;
   std::unique_ptr<KDL::ChainFkSolverVel_recursive> fk_vel_solver;