Remove implicit rotation of target pose #90
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nikhil-sethi wants to merge 1 commit intoros-industrial:masterfrom
Open
Remove implicit rotation of target pose #90nikhil-sethi wants to merge 1 commit intoros-industrial:masterfrom
nikhil-sethi wants to merge 1 commit intoros-industrial:masterfrom
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This was referenced Sep 4, 2025
marip8
approved these changes
Sep 9, 2025
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Hey @marip8, I see an approval but no merge button! |
Member
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Since the change in this PR will be a breaking change from the end-user perspective, I would like to merge #89 first (as a minor version update), and then make this change (as a major version update). Can you address the changes suggested there? Then we can circle back to this PR |
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The target poses are rotated about the z-axis internally because of the assumption that z-axes of target poses and tool need to be opposing. But there is no need for this assumption.
This MR removes this assumption.
Fixes #77 .
Related MR in reach_ros2