Allow setting joint values for end-effector marker #21
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currently end-effector markers are based on the default robot state (ie all zero), this allows passing a vector of doubles for all active joint in the end-effector group Passing a new set of joint values will invalidate the cache but for our use-case this is neglectible and could be optimized later
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Looks like the CI is broken, attempting fix: |
| * \return true if it is successful | ||
| */ | ||
| bool loadEEMarker(const robot_model::JointModelGroup* ee_jmg); | ||
| bool loadEEMarker(const robot_model::JointModelGroup* ee_jmg, const std::vector<double>& ee_joint_pos); |
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Would you like to have a default value here? just noticed that I changed a public api in a non backwards compatible manner here. Would you like a default value " const std::vector& ee_joint_pos = {} " here?
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yes please, or provide two versions of the function
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CI is unfortunately still broken, but it should be API compatible again now |
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@davetcoleman anything else I should do? |
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The Travis issue seems very unrelated to this PR, will merge:
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Thanks, yes, those travis errors come from rviz visual tools instead |
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@davetcoleman could you please forward port/merge this to melodic? |
| * \param color to display the collision object with | ||
| * \return true on success | ||
| */ | ||
| bool publishEEMarkers(const Eigen::Affine3d& pose, const robot_model::JointModelGroup* ee_jmg, | ||
| const std::vector<double>& ee_joint_pos, | ||
| const rviz_visual_tools::colors& color = rviz_visual_tools::CLEAR, |
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@simonschmeisser why did you choose CLEAR here? I just debugged why moveit_grasps didn't visualize animated grasps anymore, and it took a long time for me to realize alpha was set to 0 by default! I'm going to make the default something else...
| } | ||
| bool publishEEMarkers(const geometry_msgs::Pose& pose, const robot_model::JointModelGroup* ee_jmg, | ||
| const std::vector<double>& ee_joint_pos, | ||
| const rviz_visual_tools::colors& color = rviz_visual_tools::CLEAR, |
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@davetcoleman wasn't me 😜 I just copy pasted this from you
currently end-effector markers are based on the default robot state (ie all zero),
this allows passing a vector of doubles for all active joint in the end-effector group
Passing a new set of joint values will invalidate the cache but for our use-case this is
neglectible and could be optimized later
implements #18