IKFast plugin: Minor fix to apply

[ghost]

Hi all,

I am reporting a minor bug about the harmonize function inside the two next files (line 482, indigo-devel branch):

• rtmros_nextage/nextage_ik_plugin/src/nextage_left_arm_ikfast_moveit_plugin.cpp
• rtmros_nextage/nextage_ik_plugin/src/nextage_right_arm_ikfast_moveit_plugin.cpp

A minus sign is missing in order to properly bound the angles in [-2PI; 2PI]
line 482: while(solution[i] < -2*M_PI) { ...

Regards,
Yoann.

[130s]

Thanks for the headsup. A few questions:

• Have you confirmed the suggested change works? On simulator or on the real robot?
• Do you think you can open a pull request?

Either way I'd like to ask @k-okada for taking care of this.

[ghost]

Hi 130s,

It was tested with the simulator and it works.
I have created the pull request: #342

Regards,
Yoann.

[130s]

Thanks!
Continued in #342