Port kinematics_plugin_loader to ROS2 #107
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JafarAbdi
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This PR depends on PR#104 |
.../kinematics_plugin_loader/include/moveit/kinematics_plugin_loader/kinematics_plugin_loader.h
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| std::string ksolver_param_name; | ||
| bool found = nh.searchParam(base_param_name + "/kinematics_solver", ksolver_param_name); | ||
| if (!found || !nh.hasParam(ksolver_param_name)) | ||
| std::string ksolver_param_name = base_param_name + "/kinematics_solver"; |
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This whole part seems overly complicated to me (it already was in the original implementation). But it's probably not the point for premature optimization here. Could you add a TODO: revise parameter lookup here so we can track what parameters we need to test/improve in the future?
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I think the yaml you linked doesn't belong to the cpp file. What they did is use dynamic_reconfigure to generate the parameters: https://github.com/ros-planning/navigation2/blob/6bfa8c48ea0291fff540eb7aead6e5e511130bd7/nav2_costmap_2d/cfg/ObstaclePlugin.cfg. Normal parameters use forward slashes as namespace separators, at least I didn't find anything that supports something else: https://design.ros2.org/articles/ros_parameters.html https://design.ros2.org/articles/topic_and_service_names.html.
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MoveIt2 Beta - Phase 1
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Oct 31, 2019
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- Update CMakeLists.txt - Update parameter resolution - Update logger
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Description
This is a continuation of PR#74
I did the same as in this PR#104 for applying the changes