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Fixed pose bug #282

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merged 6 commits into from
Apr 11, 2022
Merged

Fixed pose bug #282

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dc0b6b4
Fixed pose bug
ChamzasKonstantinos Apr 9, 2022
34482d2
Fixed error
ChamzasKonstantinos Apr 9, 2022
8153e77
YAML fixes for backwards compatibility
zkingston Apr 11, 2022
8e3bee0
fixed goof
zkingston Apr 11, 2022
88010ad
Merge branch 'master' into pose-new-entry-hotfix
ChamzasKonstantinos Apr 11, 2022
01ff11a
Initializing pose with identity when it is not included in the yaml f…
ChamzasKonstantinos Apr 11, 2022
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6 changes: 6 additions & 0 deletions robowflex_library/src/scene.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -272,7 +272,13 @@ RobotPose Scene::getObjectPose(const std::string &name) const
const auto &world = scene_->getWorldNonConst();
const auto &obj = world->getObject(name);
if (obj)
{
#if ROBOWFLEX_MOVEIT_VERSION >= ROBOWFLEX_MOVEIT_VERSION_COMPUTE(1, 1, 6)
return obj->pose_ * obj->shape_poses_[0];
#else
return obj->shape_poses_[0];
#endif
}

return RobotPose::Identity();
}
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35 changes: 35 additions & 0 deletions robowflex_library/src/yaml.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -12,6 +12,7 @@

#include <robowflex_library/geometry.h>
#include <robowflex_library/io.h>
#include <robowflex_library/tf.h>
#include <robowflex_library/io/yaml.h>
#include <robowflex_library/macros.h>
#include <robowflex_library/yaml.h>
Expand Down Expand Up @@ -834,6 +835,10 @@ namespace YAML

node["id"] = rhs.id;

#if ROBOWFLEX_MOVEIT_VERSION >= ROBOWFLEX_MOVEIT_VERSION_COMPUTE(1, 1, 6)
node["pose"] = rhs.pose;
#endif

if (!rhs.type.key.empty())
node["type"] = rhs.type;

Expand Down Expand Up @@ -877,6 +882,8 @@ namespace YAML

bool convert<moveit_msgs::CollisionObject>::decode(const Node &node, moveit_msgs::CollisionObject &rhs)
{
RobotPose pose = TF::identity();
geometry_msgs::Pose pose_msg = TF::poseEigenToMsg(pose);
rhs = moveit_msgs::CollisionObject();

if (IO::isNode(node["header"]))
Expand All @@ -887,25 +894,53 @@ namespace YAML
if (IO::isNode(node["id"]))
rhs.id = node["id"].as<std::string>();

if (IO::isNode(node["pose"]))
{
pose_msg = node["pose"].as<geometry_msgs::Pose>();
pose = TF::poseMsgToEigen(pose_msg);
}

#if ROBOWFLEX_MOVEIT_VERSION >= ROBOWFLEX_MOVEIT_VERSION_COMPUTE(1, 1, 6)
rhs.pose = pose_msg;
#endif

if (IO::isNode(node["type"]))
rhs.type = node["type"].as<object_recognition_msgs::ObjectType>();

if (IO::isNode(node["primitives"]))
{
rhs.primitives = node["primitives"].as<std::vector<shape_msgs::SolidPrimitive>>();
rhs.primitive_poses = node["primitive_poses"].as<std::vector<geometry_msgs::Pose>>();

// If loading a newer format, add pose to include offset
#if ROBOWFLEX_MOVEIT_VERSION < ROBOWFLEX_MOVEIT_VERSION_COMPUTE(1, 1, 6)
for (auto &primitive_pose : rhs.primitive_poses)
primitive_pose = TF::poseEigenToMsg(pose * TF::poseMsgToEigen(primitive_pose));
#endif
}

if (IO::isNode(node["meshes"]))
{
rhs.meshes = node["meshes"].as<std::vector<shape_msgs::Mesh>>();
rhs.mesh_poses = node["mesh_poses"].as<std::vector<geometry_msgs::Pose>>();

// If loading a newer format, add pose to include offset
#if ROBOWFLEX_MOVEIT_VERSION < ROBOWFLEX_MOVEIT_VERSION_COMPUTE(1, 1, 6)
for (auto &mesh_pose : rhs.mesh_poses)
mesh_pose = TF::poseEigenToMsg(pose * TF::poseMsgToEigen(mesh_pose));
#endif
}

if (IO::isNode(node["planes"]))
{
rhs.planes = node["planes"].as<std::vector<shape_msgs::Plane>>();
rhs.plane_poses = node["plane_poses"].as<std::vector<geometry_msgs::Pose>>();

// If loading a newer format, add pose to include offset
#if ROBOWFLEX_MOVEIT_VERSION < ROBOWFLEX_MOVEIT_VERSION_COMPUTE(1, 1, 6)
for (auto &plane_pose : rhs.plane_poses)
plane_pose = TF::poseEigenToMsg(pose * TF::poseMsgToEigen(plane_pose));
#endif
}

if (IO::isNode(node["operation"]))
Expand Down