[pr2eus][pr2eus_moveit] use ctype in :send-trajectory and pass ctype in angle-vector-motion-plan

[knorth55]

Changes

• [pr2eus] use only controller-type in send-trajectory
• [pr2eus_moveit] pass ctype in angle-vector-motion-plan

Fixes jsk-ros-pkg/jsk_robot#776

@k-okada
I searched about :send-trajectory, but I didn't understand the reason why it has controller-type and controller-action.
My opinion is controller-type is necessary, and controller-action depends on it, as my first commit d8b0aa6.
I'm afraid if this commit breaks API, but I couldn't find out other method which uses :send-trajectory.

cc. @Affonso-Gui

[Affonso-Gui]

Seems to work fine with fetch.

Video:
https://drive.google.com/open?id=0B7yBh2Z2PcYOY3dGRER3c2NVTWM

[k-okada]

I searched about :send-trajectory, but I didn't understand the reason why it has controller-type and controller-action.

may be that's true,,, @YoheiKakiuchi
but this seem you added ctype for planning #261, but forget to send to :send-trajectory with ctype
so, another solution might be something like

             (send* self :send-trajectory traj :controller-type ctype :controller-action (gethash ctype controller-table) args)))

in
https://github.com/jsk-ros-pkg/jsk_pr2eus/blob/0.3.10/pr2eus_moveit/euslisp/robot-moveit.l#L573-L574

BTW can we create test code for this?

[knorth55]

but this seem you added ctype for planning #261, but forget to send to :send-trajectory with ctype
so, another solution might be something like

That's true. I forgot to pass it to :send-trajectory.
I consider it, too. But if it is not nesessary, I can write it in simpler way.

BTW can we create test code for this?

I know fetcheus have test code with MoveIt!, and I will try to make it.

[YoheiKakiuchi]

I searched about :send-trajectory, but I didn't understand the reason why it has controller-type and controller-action.
may be that's true,,, @YoheiKakiuchi

I changed API of :angle-vector by d93d5c3
I forgot to change API of :send-trajectory ... Sorry ...

[knorth55]

@YoheiKakiuchi Thank you for your reply.
@k-okada Which should I choose, keep API or modify it?

[k-okada]

Let's change API so it is compatible with :angle-vector 2017年5月11日(木) 16:04 Shingo Kitagawa <notifications@github.com>:

@YoheiKakiuchi <https://github.com/YoheiKakiuchi> Thank you for your reply. @k-okada <https://github.com/k-okada> Which should I choose, keep API or modify it? — You are receiving this because you were mentioned. Reply to this email directly, view it on GitHub <#292 (comment)>, or mute the thread <https://github.com/notifications/unsubscribe-auth/AAeG3J5z5mExw0k5dLsYYmAeHDsXJ5q0ks5r4rMVgaJpZM4NWRMl> .

-- -- ◉ Kei Okada

[knorth55]

So is this PR ok? or any suggestion?