Use a plugin for IK solvers #34
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added 9 commits
October 27, 2021 10:59
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Would you like me to run the auto-formatter now or do you want to take care of that later? |
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This creates a base class for differential IK plugins. The base class is called
ik_plugin_base. The main reason we wanted to do this is to get the MoveIt dependency out of ros2_controllers. But, it will also allow anybody to easily write their own IK module.So far, there is only one plugin available. I stashed it here but we could move it elsewhere.
An error is printed and ros2_control exits if the plugin can't be loaded, e.g. if the user typed the plugin name wrong.
I'd squash-merge this.