update pose of all markers when any marker moved

[rhaschke]

Having several end-effector markers attached to a group (e.g. a multi-
fingered hand having an end-effector per fingertip and an end-effector
for the hand base), all markers need to update their pose on any motion
of any marker. In the example: if the hand base is moved, the fingertip
markers should be moved too.

I'm not sure, whether this will create an infinite loop of marker updates.

[rhaschke]

I didn't noticed any issues using this patch for a while. Particularly, my concern creating infinite loops, was not confirmed. I will go ahead and merge that PR if there are no complaints.

[davetcoleman]

Its not clear to me how moving "error_state_changed" to this new location accomplishes updating all the EEs. I guess I should dig into the code

[rhaschke]

publishInteractiveMarkers distinguishes between pure pose updates and complete marker re-creation.
Previously, the code only triggered a publishInteractiveMarkers() call when the error state changed, i.e. the markers had to be recreated in order to change color.
Now publishInteractiveMarkers() is triggered in any case. However, error_state_changed is passed as an argument pose_update = !error_state_changed to the function.
That's it.

[sachinchitta]

+1

I can confirm that this works fine with a regular 6 DOF robot. I don't have a robot with fingertips to test with.