16 comment out debugging out for intermediate calculation result#52
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adi-git-slu wants to merge 7 commits intolearnsyslab:mainfrom
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- Added config file for precommit. - Added formatting and linting. - Applied formatting and linting to all related files.
#8) - Replaced using slerp to interpolate orientation in stead of doing interpolation in twist, since angular velocity vector is surjective to rotation matrix. - Added extra logging section in cartesian_controller.cpp to avoid using log_debug_info due to glitches. - Added ros2 log to csv pythong script and json to help converting ros2 log to csv file for easy data plotting when use plotjuggler.
… from Pinocchio (#11) - Corrected the usage of joint mass matrix by explicitly making it as a symmetric matrix, since the one from Pinocchio is an upper triangle matrix for internal calculation speedup within Pinocchio lib. - Added controller_tuning.xml file to use plotjuggler to plot curves in real time.
- Commented out debugging out.
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Close, wrong PR push. Sorry |
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