fix arm moving by 0 for unrestricted joints #199
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alexvannobel
requested changes
Oct 6, 2021
kortex_driver/src/non-generated/driver/kortex_arm_simulation.cpp
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alexvannobel
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Oct 6, 2021
alexvannobel
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Oct 6, 2021
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In gazebo, an unrestricted joint moving from 170 degrees to 190 degrees will move 340 degrees backwards and pass by 0 instead of just moving 20 degrees forward.
The arm will now follow the expected behaviour and allow to send commands that will enable joints to do multiple turns for unrestricted joints
see #196