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Fix frame-exists method #591

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@Affonso-Gui
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commented Dec 11, 2018

Had wrong function in the :frame-exists method.

@M-Onitsuka @koga-yu

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@koga-yu 君がtfを使っていたところ起きた問題で

$ ros::roseus
$ ros::load-ros-manifest "tf"
$ ros::roseus "hoge"
$ setq hoge (instance ros::transform-listener :init)
$ send hoge :all-frame-as-string
"Frame EYE_HEAD_LINK exists with parent HEAD_HEAD_LINK.
Frame HEAD_HEAD_LINK exists with parent HEAD_NECK2_LINK.
# (中略)
rame SPINE_SPINE4_DUMMY1_LINK exists with parent PELVIS_LINK.
Frame left_eyecamera_rgb_optical_frame exists with parent LEYE_EYE_LINK.
Frame right_eyecamera_rgb_optical_frame exists with parent REYE_EYE_LINK.
"
$ send hoge :frame-exists "SPINE_SPINE4_DUMMY1_LINK"
Call Stack (max depth: 20):
  0: at (ros::eustf-all-frames-as-string ros::cobject ros::frame-id)
  1: at (send hoge :frame-exists "SPINE_SPINE4_DUMMY1_LINK")
  2: at #<compiled-code #X5c01310>
/home/m-onitsuka/catkin_ws/devel/share/euslisp/jskeus/eus/Linux64/bin/irteusgl 0 error: mismatch arg\
ument in (ros::eustf-all-frames-as-string ros::cobject ros::frame-id)

となり、https://euslisp-docs.readthedocs.io/en/latest/roseus/eustf/ にあるように引数を与えてもエラーが出てくるということが起こっていました。

このPRを手元の環境で試したところ、所望の動作(frame_idの有無によってtnilが帰ってくる)ができていることを確認しました。

$ ros::load-ros-manifest "tf"
$ ros::roseus "poyo"
$ setq poyo (instance ros::transform-listener :init)
$ send poyo :all-frames-as-string
"Frame EYE_HEAD_LINK exists with parent HEAD_HEAD_LINK.
Frame HEAD_HEAD_LINK exists with parent HEAD_NECK2_LINK.
# (中略)
rame SPINE_SPINE4_DUMMY1_LINK exists with parent PELVIS_LINK.
Frame left_eyecamera_rgb_optical_frame exists with parent LEYE_EYE_LINK.
Frame right_eyecamera_rgb_optical_frame exists with parent REYE_EYE_LINK.
"
$ send poyo :frame-exists "SPINE_SPINE4_DUMMY1_LINK"
t
$ send poyo :frame-exists "naiyo"
nil
@k-okada

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commented Dec 12, 2018

koga-yu and others added some commits Dec 12, 2018

@koga-yu

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commented Dec 12, 2018

@k-okada added test for tf::transform-listener::frame-exists

@k-okada k-okada referenced this pull request Dec 13, 2018

Merged

add test-frame-exists #592

@k-okada k-okada closed this in 719000e Dec 14, 2018

@Affonso-Gui Affonso-Gui deleted the Affonso-Gui:fix-frame-exists branch Dec 14, 2018

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