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[baxtereus] override :angle-vector and rename existing methods #721

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merged 1 commit into from Nov 17, 2016

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commented Nov 11, 2016

MERGE AFTER #719
Before After
:angle-vector -> :angle-vector-raw
:angle-vector-sequence -> :angle-vector-sequence-raw
:angle-vector-motion-plan -> :angle-vector

related to #716 (comment) and #716 (comment)

it works with simulation and real robot

@knorth55 knorth55 force-pushed the knorth55:override-angle-vector branch from 26d0988 to 749e2df Nov 11, 2016

@knorth55 knorth55 changed the title override :angle-vector and rename existing methods [WIP] override :angle-vector and rename existing methods Nov 11, 2016

@knorth55 knorth55 force-pushed the knorth55:override-angle-vector branch from 749e2df to 0463c94 Nov 11, 2016

@knorth55 knorth55 changed the title [WIP] override :angle-vector and rename existing methods override :angle-vector and rename existing methods Nov 11, 2016

@knorth55 knorth55 force-pushed the knorth55:override-angle-vector branch 2 times, most recently from e48ba94 to b8464bc Nov 11, 2016

@knorth55 knorth55 changed the title override :angle-vector and rename existing methods [baxtereus] override :angle-vector and rename existing methods Nov 11, 2016

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commented Nov 12, 2016

@pazeshun can you review this?

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commented Nov 12, 2016

If mvit-rb and mvit-env are nil, what happens?
I think it's better that we can use :angle-vector as :angle-vetor-raw in that situation.
@knorth55 What do you think?

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commented Nov 12, 2016

If mvit-rb and mvit-env are nil, what happens?

baxter-interface do not initialize moveit config.

https://github.com/knorth55/jsk_robot/blob/b8464bc2345a19a55e75c04dfb56b31c72286024/jsk_baxter_robot/baxtereus/baxter-interface.l#L49-L50

I think it's better that we can use :angle-vector as :angle-vetor-raw in that situation.

method :angle-vector should be only for moveit, and in other case, robot should not move because it can be dangerous

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commented Nov 12, 2016

Ok, I understood.
+1

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commented Nov 13, 2016

@knorth55 knorth55 force-pushed the knorth55:override-angle-vector branch from b8464bc to 51b83ee Nov 13, 2016

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commented Nov 13, 2016

@pazeshun modified

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Typo in Commit message: overrid -> override

@knorth55 knorth55 force-pushed the knorth55:override-angle-vector branch from 51b83ee to 6e629e4 Nov 14, 2016

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commented Nov 14, 2016

modified

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commented Nov 14, 2016

+1

(when (not (numberp tm))
(ros::warn ":angle-vector tm is not a number, use :angle-vector av tm args"))
(if (and (get self :moveit-environment)
((get self :moveit-environment) . robot))

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knorth55 Nov 16, 2016

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thank you!

override :angle-vector and rename existing methods
Before                       After
:angle-vector-motion-plan -> :angle-vector
:angle-vector             -> :angle-vector-raw
:angle-vector-sequence    -> :angle-vector-sequence-raw

@knorth55 knorth55 force-pushed the knorth55:override-angle-vector branch from 6e629e4 to f64f852 Nov 16, 2016

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commented Nov 16, 2016

fixed

@k-okada k-okada merged commit 870c0cf into jsk-ros-pkg:master Nov 17, 2016

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@knorth55 knorth55 deleted the knorth55:override-angle-vector branch Nov 17, 2016

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