Description
In the file kinova_driver/src/kinova_arm.cpp, there is an inconsistency regarding the inversion of joint values for velocity commands and published joint angles. Currently, only joints 1 and 4 are inverted in the ovisJointVelocityCallback function, while joints 1, 3, and 4 are inverted in the publishJointAngles function.
However, according to the comments from #discussion_r1194434064 , there seems to be confusion about the actual workings of the system. It is mentioned that the user interface (UI) always sends positive joint angles like [180,180,180,180,180,180] for the correct angle position. But some joints are inverted in the source code, possibly due to a hidden reverse command within the UI, making it unclear why these inversions are present.
Tasks to be performed:
- Analyse the current functionning of the system and the user interface to understand the reasons for the joint inversions.
- Revise the inversions of joint valuers in the
ovisJointVelocityCallbackandpublishJointAnglesfunctions to ensure consistency. - Evaluate the possibility of resolving these inversions directly in the URDF file to improve code clarity and maintainability.
- If necessary, update the code documentation to explain the joint value inversions.