dbdxnuliba

 this is the caputer

but the result about "delta_x = current_joint+last_joint" is better than "delta_x = current_joint-last_joint" may be your raw code is right

sorry ,I haven't find it

@tahsinkose @wojrut97 ,I have solved the problem by test we should modify effort_joint_interface.h file, add KDL::Chain kdl_chain_; as class private object to replace temporary object in init functio ，like the...

@[sharshi13](https://github.com/sharshi13),@[grafoteka](https://github.com/grafoteka) I have solved the problem , we can start the demo following the steps: 1)roslaunch arm_gazebo empty_world.launch 2)roslaunch arm_control moveit.launch 3)roslaunch arm_control rviz.launch

@Kubasinska @rhaschke ,I has not solved the problem up to now

ok ,I see ,we can do it with calling " move_group/save_map" service

hello @zengtaiping , did you find the solution

经过查找资料可以这么实现，强制转换成员函数为普通函数 A A_obj; typedef void* (*FUNC)(void*,int); //FUNC callback = (FUNC)&A::Cfun;//强制转换func()的类型 FUNC callback = (FUNC)&A::Cfun;//强制转换func()的类型 pool.submit(callback,&A_obj,1);

厉害