Review for alternative to #169 #189
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Allow user to disable raising an alarm in case a multi-group system has not been calibrated, but TF broadcast is still enabled (in which case group origins will be wrong).
We'll use it to not have to count the nr of Robot groups later (they're not expected to change after initialisation).
Note: as mentioned in the comments, it's perfectly OK for multi-group systems to not have been calibrated. Whether or not calibration succeeded to load is therefore not taken into account when determining whether controller initialisation was successful or not (`bInitOk`). But, in case TF broadcasts are enabled, uncalibrated groups (specifically: robots) will have their origins coincident, which will (most likely) not be representative of their physical configuration (ie: in case those groups are different manipulators, those will not occupy the same physical space). In those cases an alarm is raised to notify the user of this potential misconfiguration. But only if the alarm hasn't been disabled by user configuration.
Initial set to encode assumptions.
ted-miller
commented
Nov 15, 2023
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Thanks for the review @ted-miller. I'll update the original #169 and close this one. We can continue there. |
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I'm just creating this PR as a way to review an alternate fork/branch to #169.
This is in response to: #169 (comment)