HiveCoreRD/hivecore_robot_arm
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joints使用角度值

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This commit is contained in:
NuoDaJia02
2026-01-30 15:33:06 +08:00
parent 20ffabcd81
commit fe80e94969
2 changed files with 5 additions and 5 deletions
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8
src/dual_arm_action_server/src/dual_arm_action_server_node.cpp
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@@ -267,10 +267,10 @@ bool DualArmActionServer::validate_goal(const DualArm::Goal & goal, std::string
error_msg = "unsupported motion_type";
return false;
}
if (params.blend_radius < 0.0 || params.blend_radius > 0.5) {
error_msg = "blend_radius out of range [0.0, 0.5]";
return false;
}
// if (params.blend_radius < 0.0 || params.blend_radius > 0.5) {
// error_msg = "blend_radius out of range [0.0, 0.5]";
// return false;
// }
if (params.motion_type == interfaces::msg::ArmMotionParams::MOVEJ &&
params.target_joints.size() != USED_ARM_DOF)
{

2
src/dual_arm_action_server/src/real_robot_driver.cpp
View File

@@ -117,7 +117,7 @@ bool RealRobotDriver::execute_motion(
float joints[ARM_DOF] = {0.0f};
for (size_t i = 0; i < USED_ARM_DOF; ++i) {
joints[i] = static_cast<float>(params.target_joints[i] * 180.0 / M_PI);
joints[i] = static_cast<float>(params.target_joints[i]);
}
const int result = rm_service_->rm_movej(