merge branch boneil_point_streaming manually #88
Conversation
original author: Brian O'Neil
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@jim-rees, thanks for this. I'm working my way through PRs on the Motoman repo over the next few weeks. One quick questions, does this PR support multiple joint groups (i.e. for a dual arm set up)? |
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I have not tested with dual arm, but I don't see any reason why it shouldn't. |
| void JointTrajectoryInterface::jointCommandCB( | ||
| const trajectory_msgs::JointTrajectoryConstPtr &msg) | ||
| { | ||
| //ROS_INFO("Yessir?"); |
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@jim-rees, sorry this has taken a little while. I'm working through a bunch of PRs on the motorman repo (in the hopes of clearing them out). I had a few comments as well as one general question: It's been a while since I have looked at the |
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I've had a report that this does not work with dual arm robots, because they require motoman_msgs/DynamicJointTrajectory messages which this doesn't implement. |
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Regarding the state machines, there are two, one in MotomanJointTrajectoryStreamer::streamingThread() and one in JointTrajectoryStreamer::streamingThread(). I don't know why there are two. As far as I can tell, only the one in MotomanJointTrajectoryStreamer is actually used. I do not know why there are two classes, one overriding the other. I was hoping someone could tell me, because I find it overly confusing. |
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@jim-rees, thanks for the info. I'm working on merging some other PRs before this one. Can you address some of my comments above? If we can get everything resolved, I think we should merge this into a |
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This seems like a useful feature, and based on the conversation, it seems implemented. However, the joint_command subscription in the JointTrajectoryInterface seems to be a placeholder. Is this fully implemented? |
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JointTrajectoryInterface is not fully implemented because it is not fully used. See my comments above about the two classes. The Yessir? code is never called. I did not remove this code because I don't know why it's there. I have not worked on this code in over a year so my memory may be a bit hazy but I will try to answer questions if anyone wants to resurrect this. |
…al#88 * Addressed comments from @shaun-edwards: - Comment 1: Made JointTrajectoryInterface::jointCommandCB() pure virtual so that JointTrajectoryInterface::jointCommandCB() implementation can be deleted. - Comment 2: Message was changed to ROS_DEBUG * Some other minor changes (e.g., commenting)
…al#88 * Addressed comments from @shaun-edwards: - Comment 1: Made JointTrajectoryInterface::jointCommandCB() pure virtual so that JointTrajectoryInterface::jointCommandCB() implementation can be deleted. - Comment 2: Message was changed to ROS_DEBUG * Some other minor changes (e.g., commenting)
original author: Brian O'Neil
This is an update of pull request #37, "On-the-fly point streaming and Cartesian jog". I've merged it to apply to indigo-devel, and have tested it and am using it. This does not include the cartesian jog part.