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Publish singularity condition to topic #695

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merged 2 commits into from
Sep 28, 2021

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nbbrooks
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@nbbrooks nbbrooks commented Sep 22, 2021

Description

Publish singularity condition to ~/servo_server/condition to help understand servo behavior around singularities

This is broken out from #620

Checklist

  • Required by CI: Code is auto formatted using clang-format
  • Extend the tutorials / documentation reference
  • Document API changes relevant to the user in the MIGRATION.md notes
  • Create tests, which fail without this PR reference
  • Include a screenshot if changing a GUI
  • While waiting for someone to review your request, please help review another open pull request to support the maintainers

@nbbrooks nbbrooks changed the title Improve knowledge of servo behavior around singularities Publish singularity condition to topic Sep 22, 2021
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@felixvd felixvd left a comment

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Debug data good.

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codecov bot commented Sep 22, 2021

Codecov Report

Merging #695 (e07655a) into main (eec02c7) will increase coverage by 0.02%.
The diff coverage is 100.00%.

❗ Current head e07655a differs from pull request most recent head 76dde4e. Consider uploading reports for the commit 76dde4e to get more accurate results
Impacted file tree graph

@@            Coverage Diff             @@
##             main     #695      +/-   ##
==========================================
+ Coverage   54.17%   54.19%   +0.02%     
==========================================
  Files         192      192              
  Lines       20182    20184       +2     
==========================================
+ Hits        10931    10936       +5     
+ Misses       9251     9248       -3     
Impacted Files Coverage Δ
moveit_ros/moveit_servo/src/servo_calcs.cpp 70.64% <100.00%> (+0.12%) ⬆️
...dl_kinematics_plugin/src/kdl_kinematics_plugin.cpp 75.85% <0.00%> (+1.14%) ⬆️

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@tylerjw tylerjw left a comment

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one small nit, otherwise I see no issue with this.

@@ -157,6 +157,7 @@ ServoCalcs::ServoCalcs(rclcpp::Node::SharedPtr node,

// Publish status
status_pub_ = node_->create_publisher<std_msgs::msg::Int8>(parameters_->status_topic, ROS_QUEUE_SIZE);
condition_pub_ = node_->create_publisher<std_msgs::msg::Float64>("~/condition", ROS_QUEUE_SIZE);
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Would you mind moving the name of this topic into a constant in the anonymous namespace? We generally try to avoid string constants and other magic numbers in the code.

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will do, thanks

@AndyZe AndyZe merged commit e6835c2 into moveit:main Sep 28, 2021
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4 participants