Port robot_state to ROS 2 #59
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henningkayser
requested changes
Apr 9, 2019
| * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE | ||
| * POSSIBILITY OF SUCH DAMAGE. | ||
| *********************************************************************/ | ||
| * Software License Agreement (BSD License) |
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Please revert these kind of changes
| @param timeout The timeout passed to the kinematics solver on each attempt | ||
| @param constraint A state validity constraint to be required for IK solutions */ | ||
| bool setFromIK(const JointModelGroup* group, const geometry_msgs::Pose& pose, double timeout = 0.0, | ||
| const GroupStateValidityCallbackFn& constraint = GroupStateValidityCallbackFn(), | ||
| bool setFromIK(const JointModelGroup* group, const geometry_msgs::msg::Pose& pose, unsigned int attempts = 0, |
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The attempts parameter was removed so it shouldn't be added here again. This also accounts for the removed deprecated functions below.
| const EigenSTL::vector_Isometry3d& attach_trans, const std::set<std::string>& touch_links, | ||
| const std::string& link_name, | ||
| const trajectory_msgs::JointTrajectory& detach_posture = trajectory_msgs::JointTrajectory()); | ||
| void |
| // ******************************************** | ||
| // * Internal (hidden) functions | ||
| // ******************************************** | ||
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| namespace | ||
| { | ||
| static bool _jointStateToRobotState(const sensor_msgs::JointState& joint_state, RobotState& state) | ||
| // Logger | ||
| rclcpp::Logger LOGGER = rclcpp::get_logger("moveit").get_child("robot_state"); |
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Suggested change
| rclcpp::Logger LOGGER = rclcpp::get_logger("moveit").get_child("robot_state"); | |
| const rclcpp::Logger LOGGER = rclcpp::get_logger("moveit").get_child("robot_state"); |
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Also, LOGGER is used outside this anonymous namespace so it should stay at the same position as LOGNAME before.
| error = true; | ||
| continue; | ||
| } | ||
| // if frames do not mach, attempt to transform |
| @@ -1644,6 +1633,9 @@ bool RobotState::setFromIK(const JointModelGroup* jmg, const EigenSTL::vector_Is | |||
| if (timeout < std::numeric_limits<double>::epsilon()) | |||
| timeout = jmg->getDefaultIKTimeout(); | |||
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| if (attempts == 0) | |||
| @@ -1652,32 +1644,66 @@ bool RobotState::setFromIK(const JointModelGroup* jmg, const EigenSTL::vector_Is | |||
| // Bijection | |||
| const std::vector<unsigned int>& bij = jmg->getKinematicsSolverJointBijection(); | |||
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| bool first_seed = true; | |||
| ros::Publisher pub_aabb = nh.advertise<visualization_msgs::Marker>("/visualization_aabb", 10); | ||
| ros::Publisher pub_obb = nh.advertise<visualization_msgs::Marker>("/visualization_obb", 10); | ||
| rclcpp::init(argc, argv); | ||
| auto node = rclcpp::Node::make_shared("visualize_pr2"); |
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Is there a reason to create a shared pointer? I think rclcpp::Node node("visualize_pr2") would be sufficient.
| ros::Publisher pub_obb = nh.advertise<visualization_msgs::Marker>("/visualization_obb", 10); | ||
| rclcpp::init(argc, argv); | ||
| auto node = rclcpp::Node::make_shared("visualize_pr2"); | ||
| auto pub_aabb = node->create_publisher<visualization_msgs::Marker>("/visualization_aabb", rmw_qos_profile_default); |
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Where is rmw_qos_profile_default defined?
| msg.type = visualization_msgs::Marker::CUBE; | ||
| msg.color.a = 0.5; | ||
| msg.lifetime.sec = 3000; | ||
| auto msg = std::make_shared<visualization_msgs::Marker>(); |
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I think it's perfectly fine to use a reference instead of a shared pointer here.
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@ahcorde I see that you attempted to revert some of the unwanted changes. Unfortunately there still are a lot of these left. I strongly advocate to rebase this PR onto the current master branch or better recreate it and cherry-pick and verify the desired commits. |
Merged
JafarAbdi
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Oct 28, 2019
…terface Port planning_scene_interface to ROS2
MikeWrock
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Aug 15, 2022
* Minor fixup
MikeWrock
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Aug 15, 2022
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Follows from #38 and particularly, after #38 (comment).