Handle multiple shapes in an attached collision object #421
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Objects with multiple collision shapes leave the question what the object's internal frame is, because a pose is specified *for each shape* individually. The RobotState::getFrameTransform function handled this by returning the first registered pose as frame of reference. This is a perfectly valid approach, so I changed the warning there to a debug message. RobotState::knowsFrameTransform, however, returned false if asked whether the state knows the transform for the object. That's inconsistant behavior: if `getFrameTransform` returns a valid result, then the indicator should also reflect that. Among other things, the pick-pipeline fails with objects with multiple collision shapes without this change. I consider this a bug-fix, so I request to merge this into indigo (and forward-port it).
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Could any @ros-planning/moveit-developers take a look? To me, with the tests passing I'm tempted to merge, particularly because time constraint for #393 (may not be a good enough motivation though). |
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I merged since the test passed and the code didn't seem breaking at least. |
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@130s thanks for merging. Please don't forget to cherry-pick the change to j/k :) |
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Mar 24, 2022
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Objects with multiple collision shapes leave the question what the object's
internal frame is, because a pose is specified for each shape individually.
The RobotState::getFrameTransform function handled this by returning the first
registered pose as frame of reference.
This is a perfectly valid approach, so I changed the warning there to a debug message.
RobotState::knowsFrameTransform, however, returned false if asked whether the state knows the
transform for the object. That's inconsistant behavior: if
getFrameTransformreturns a valid result,then the indicator should also reflect that.
Among other things, the pick-pipeline fails with objects with multiple collision shapes
without this change. I consider this a bug-fix, so I request to merge this into indigo (and forward-port it).