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[kinovaeus] Warning when input vector dimension > the number of joints in angle-vector method #132

Merged
merged 3 commits into from
Mar 7, 2022
Merged

[kinovaeus] Warning when input vector dimension > the number of joints in angle-vector method #132

merged 3 commits into from
Mar 7, 2022

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tkmtnt7000
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This PR is in response to #131.

A warning is displayed as following (only for Gen3 Lite) when the input vector is larger than the number of joints when manipulating joint angles in eusmodel.

  • before
2.irteusgl$ (send *kinova* :angle-vector #f(0 0 0 0 0 0 0)) ;; dimension of input vector > the number of joints
#f(0.0 0.0 0.0 0.0 0.0 0.0) ;; No error or warning
  • after
2.irteusgl$ (send *kinova* :angle-vector #f(0 0 0 0 0 0 0))
;; WARNING : Dimension of input vector: 7 > Dimension of joint-list: 6
#f(0.0 0.0 0.0 0.0 0.0 0.0)

I think it is a little problematic that no error or warning is displayed when the number of dimensions of the input vector is larger than the number of joints that can be manipulated.
So, in the future work, I should send PR of irtmodel.l or irtrobot.l to jsk_eus.

cc: @a-ichikura

@tkmtnt7000
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I added link to PR for irteus/irtmodel.l related to this change.

@tkmtnt7000
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Reflect euslisp/jskeus#612 (comment)
It doesn't matter much to kinova, but I think it would be better to match writing style.

@tkmtnt7000 tkmtnt7000 merged commit 2b973b9 into sktometometo:develop/spot Mar 7, 2022
@tkmtnt7000 tkmtnt7000 deleted the PR-warning-angle-vector branch March 7, 2022 05:20
sktometometo added a commit that referenced this pull request Apr 22, 2022
@sktometometo @knorth55
Add Head L515 and update realsense launch files (#132)
50897cb 
* [jsk_fetch_startup] add RS_SERIALNO_* args

* [jsk_fetch_startup] add L515 at head

* [jsk_fetch_startup] set serial number of realsense to be environment variables

* [jsk_fetch_startup] change SERIALNO to SERIAL_NO

* [jsk_fetch_startup] launch realsense only when serial number is specified

* [jsk_fetch_startup] add config.bash for robot.conf and update robot.conf to source it if it exists in /var/lib/robot

* [jsk_fetch_startup] update L515 config

* [jsk_fetch_startup] update xacro for l515

* [jsk_fetch_accessories] add head_l515

* [jsk_fetch_startup] update head_l515 parameters

* [jsk_fetch_startup] fix l515 urdf parameter

* [jsk_fetch_startup] update rviz config for l515
sktometometo added a commit that referenced this pull request Jun 16, 2022
@sktometometo @knorth55
Add Head L515 and update realsense launch files (#132)
356d419 
* [jsk_fetch_startup] add RS_SERIALNO_* args

* [jsk_fetch_startup] add L515 at head

* [jsk_fetch_startup] set serial number of realsense to be environment variables

* [jsk_fetch_startup] change SERIALNO to SERIAL_NO

* [jsk_fetch_startup] launch realsense only when serial number is specified

* [jsk_fetch_startup] add config.bash for robot.conf and update robot.conf to source it if it exists in /var/lib/robot

* [jsk_fetch_startup] update L515 config

* [jsk_fetch_startup] update xacro for l515

* [jsk_fetch_accessories] add head_l515

* [jsk_fetch_startup] update head_l515 parameters

* [jsk_fetch_startup] fix l515 urdf parameter

* [jsk_fetch_startup] update rviz config for l515
sktometometo added a commit that referenced this pull request Jul 5, 2022
@sktometometo @knorth55
Add Head L515 and update realsense launch files (#132)
1d9f7dd 
* [jsk_fetch_startup] add RS_SERIALNO_* args

* [jsk_fetch_startup] add L515 at head

* [jsk_fetch_startup] set serial number of realsense to be environment variables

* [jsk_fetch_startup] change SERIALNO to SERIAL_NO

* [jsk_fetch_startup] launch realsense only when serial number is specified

* [jsk_fetch_startup] add config.bash for robot.conf and update robot.conf to source it if it exists in /var/lib/robot

* [jsk_fetch_startup] update L515 config

* [jsk_fetch_startup] update xacro for l515

* [jsk_fetch_accessories] add head_l515

* [jsk_fetch_startup] update head_l515 parameters

* [jsk_fetch_startup] fix l515 urdf parameter

* [jsk_fetch_startup] update rviz config for l515
sktometometo added a commit that referenced this pull request Jul 21, 2022
@sktometometo @knorth55
Add Head L515 and update realsense launch files (#132)
7eda3ee 
* [jsk_fetch_startup] add RS_SERIALNO_* args

* [jsk_fetch_startup] add L515 at head

* [jsk_fetch_startup] set serial number of realsense to be environment variables

* [jsk_fetch_startup] change SERIALNO to SERIAL_NO

* [jsk_fetch_startup] launch realsense only when serial number is specified

* [jsk_fetch_startup] add config.bash for robot.conf and update robot.conf to source it if it exists in /var/lib/robot

* [jsk_fetch_startup] update L515 config

* [jsk_fetch_startup] update xacro for l515

* [jsk_fetch_accessories] add head_l515

* [jsk_fetch_startup] update head_l515 parameters

* [jsk_fetch_startup] fix l515 urdf parameter

* [jsk_fetch_startup] update rviz config for l515
sktometometo added a commit that referenced this pull request Aug 22, 2022
@sktometometo @knorth55
Add Head L515 and update realsense launch files (#132)
c087b8a 
* [jsk_fetch_startup] add RS_SERIALNO_* args

* [jsk_fetch_startup] add L515 at head

* [jsk_fetch_startup] set serial number of realsense to be environment variables

* [jsk_fetch_startup] change SERIALNO to SERIAL_NO

* [jsk_fetch_startup] launch realsense only when serial number is specified

* [jsk_fetch_startup] add config.bash for robot.conf and update robot.conf to source it if it exists in /var/lib/robot

* [jsk_fetch_startup] update L515 config

* [jsk_fetch_startup] update xacro for l515

* [jsk_fetch_accessories] add head_l515

* [jsk_fetch_startup] update head_l515 parameters

* [jsk_fetch_startup] fix l515 urdf parameter

* [jsk_fetch_startup] update rviz config for l515
sktometometo added a commit that referenced this pull request Sep 9, 2022
@sktometometo @knorth55
Add Head L515 and update realsense launch files (#132)
59bf353 
* [jsk_fetch_startup] add RS_SERIALNO_* args

* [jsk_fetch_startup] add L515 at head

* [jsk_fetch_startup] set serial number of realsense to be environment variables

* [jsk_fetch_startup] change SERIALNO to SERIAL_NO

* [jsk_fetch_startup] launch realsense only when serial number is specified

* [jsk_fetch_startup] add config.bash for robot.conf and update robot.conf to source it if it exists in /var/lib/robot

* [jsk_fetch_startup] update L515 config

* [jsk_fetch_startup] update xacro for l515

* [jsk_fetch_accessories] add head_l515

* [jsk_fetch_startup] update head_l515 parameters

* [jsk_fetch_startup] fix l515 urdf parameter

* [jsk_fetch_startup] update rviz config for l515
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@tkmtnt7000 @sktometometo