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Adding Support for Forward Kinematics Configuration over CoAP and Recieving Gravity Calibration Matrices

Chris Woodall requested to merge feature/adding-fkin-config-support into feature/adding-rgc-config-support

Description

  • Adds support for /default/fkin_cfg for forward kinematic configurations (RobotClient.GetForwardKinematicsConfig and RobotClient.SendForwardKinematicsConfig). This includes DHParameters and base_to_world transforms.
  • Adds support for /joints/rot_to_world, /joints/rot_to_prev and /group/gravity_cal for receiving the ForwardKinematics matrices required for gravity calibration.
    • To subscribe to the gravity cal message at a rate of 500Hz use RobotClient.SubscribeToGravityCal() which takes a callback function which will be executed when each message is recieved.

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Issues

What issues does this fix?

  • Helps #42

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