Loïc Niederhauser

Fixing RNE for URDFs robots with fixed joints

5

This PR should fix the RNE function allowing correct execution for robot having fixed joints. It should also improve RNE computations by actually taking into account the links inertia when...

Feature/dockerise

3

Hello! I made a docker infrastructure that allows you to run iiwa_ros. This is, in my opinion a cool feature that means you don't have to be stuck with a...

Remove superfluous check from null_ptr_check

1

The `null_ptr_check()` function checks that `dev.inft_ptr` is not NULL, however, nowhere in the code it this pointer used. Indeed `dev.inf_ptr` is only used in user defined functions: `read`, `write` and...