manually merge pull request RethinkRobotics#52 & change update rate t…

…o 800 Hz
yepw · Mar 8, 2022 · 135d158 · 135d158
1 parent 20e07cc
commit 135d158
Show file tree

Hide file tree

Showing 6 changed files with 479 additions and 467 deletions.
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;