Support disabling pose publisher from publishing top level model pose #1342
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Signed-off-by: Ian Chen <ichen@osrfoundation.org>
mjcarroll
reviewed
Feb 17, 2022
| @@ -197,6 +200,12 @@ void PosePublisher::Configure(const Entity &_entity, | |||
| _sdf->Get<bool>("publish_nested_model_pose", | |||
| this->dataPtr->publishNestedModelPose).first; | |||
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| // for backward compatibility, publish_model_pose will be set to the | |||
| // same valuee as publish_nested_model_pose if it is not specified. | |||
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Suggested change
| // same valuee as publish_nested_model_pose if it is not specified. | |
| // same value as publish_nested_model_pose if it is not specified. |
mjcarroll
approved these changes
Feb 17, 2022
Codecov Report
@@ Coverage Diff @@
## ign-gazebo6 #1342 +/- ##
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+ Coverage 62.91% 62.92% +0.01%
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Files 299 299
Lines 24151 24159 +8
===============================================
+ Hits 15194 15203 +9
+ Misses 8957 8956 -1
Continue to review full report at Codecov.
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This pull request has been mentioned on Gazebo Community. There might be relevant details there: https://community.gazebosim.org/t/new-ignition-releases-2022-03-01-citadel-edifice-fortress/1313/1 |
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Signed-off-by: Ian Chen ichen@osrfoundation.org
🦟 Bug fix
Summary
The pose-publisher system uses only one parameter,
publish_nested_model_pose, to determine whether or not top level model and nested model poses should be published. This PR adds another parameter,publish_model_pose, to let users decouple pose publishing behavior between nested models and top level models.The changes should preserve existing behavior. That is, if
publish_nested_model_poseis set to true, the top level model pose should still be published unless the user explicitly disables this by settingpublish_model_poseto false. We should consider changing the behavior in garden.A typical use case is to disable publishing top level model's poses (ground truth data) but still allow nested model poses to be available to the user.
Checklist
codecheckpassed (See contributing)Note to maintainers: Remember to use Squash-Merge and edit the commit message to match the pull request summary while retaining
Signed-off-bymessages.