Fix psm/servo parameter conflict #266
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@@ Coverage Diff @@
## master #266 +/- ##
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+ Coverage 46.63% 47.87% +1.24%
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Files 122 155 +33
Lines 12740 15750 +3010
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+ Hits 5941 7541 +1600
- Misses 6799 8209 +1410
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AdamPettinger
approved these changes
Aug 28, 2020
| @@ -73,7 +73,8 @@ def generate_servo_test_description(*args, | |||
| package='moveit_servo', | |||
| plugin='moveit_servo::ServoServer', | |||
| name='servo_server', | |||
| parameters=[servo_params, robot_description, robot_description_semantic]) | |||
| parameters=[servo_params, robot_description, robot_description_semantic], | |||
| extra_arguments=[{'use_intra_process_comm': True}]) | |||
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Oops! Definitely meant to do this for the tests and forgot, thanks Henning!
MikeWrock
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to MikeWrock/moveit2
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Aug 15, 2022
|
Sorry to comment on this closed issue. But how should one set the parameters moved to the private node? Shouldn't we set these values to the values of the current Node when declaring them? |
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All parameters are triggering the parameter callback in the PSM node, which results in the PSM rejecting parameters from moveit_servo. I'm not sure if this fix is a good long-term solution, but for now exclusive parameters in the PSM are declared for the private node. Eventually, we might want to reimplement the PSM as a composable node which would allow a cleaner separation.
Additionally, 0a98d55 should fix some warnings with the moveit_servo tests, @AdamPettinger does this make sense to you?