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rename planning_interface::MoveGroup to planning_interface::MoveGroupInterface #37
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I want to clarify what you are saying because it was hard to follow. The problem is that there are two files with the name The executable The class +1 to @v4hn's idea |
Thanks, I'm a bit under the weather today. I see that my explanation was hard to follow... You got it right. [OBSOLETE DUE TO EDIT ABOVE] Two minor corrections:
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Good points. I've updated my previous comment to be a bit more semantically correct. |
+1 |
#251 implements the proposal. Discussion should be continued there. |
I like your checklist, above. It seems this issue should not actually be closed yet |
you're right, I missed the tutorial updates. |
tutorials updated: ros-planning/moveit_tutorials#38 |
Added set_max_velocity_scaling_factor function to move_group.py
An often observed source of confusion in MoveIt is the class "MoveGroup".
While everyone instantly believes to recognize this as the node that encapsulates most of MoveIt's functionality in ROS, this class actually lives in "planning_interface" and only provides a client interface to interact with the node via ROS-interfaces. It is often believed that most of the class methods call library functions and do not wrap ROS interfaces.
As such it should be renamed "MoveGroupInterface" in kinetic. This includes a number of steps (in order)
move_group.h
tomove_group_interface.h
and rename the classmove_group.h
that provides a typedef namedMoveGroup
to be downward compatiblemove_group.h
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