HiveCoreRD/hivecore_robot_arm
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修正初始链接，去掉注释

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zj
2025-11-20 10:46:16 +08:00
parent e831c50c67
commit 4be8691b53
1 changed files with 0 additions and 4 deletions
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4
rm_arm_control/simulator/col_simulator.cpp
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@@ -607,10 +607,6 @@ int CollisionSimulator::CheckBodyAngleLimit(int simple, int bodyType)
int CollisionSimulator::CheckArmJointsAngleLimit(float *joints)
{
CollisionStructureInfo *colStruct = &collision_structures_[g_linkStartIndex[BODY_TYPE_LEFT_ARM]];
int jointIndex2 = colStruct->jointIndexList[0];
JointsInfo *jointInfo2 = &jointMap_[jointIndex2];
RCLCPP_INFO(rclcpp::get_logger(GET_FUNC_LINE_STR()), "first link:%s, first joint:%s",
colStruct->link_name.c_str(), jointInfo2->name.c_str());
std::vector<CollisionStructureInfo *> child = {colStruct};
int childIndex = 0;
int childCnt = 1;