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update pose of all markers when any marker moved #610

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merged 1 commit into from Nov 19, 2015

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commented Sep 14, 2015

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.

update pose of all markers when any marker moved
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.
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commented Nov 12, 2015

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

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commented Nov 18, 2015

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

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commented Nov 18, 2015

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

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commented Nov 18, 2015

+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.

@rhaschke rhaschke closed this Nov 19, 2015

@rhaschke rhaschke deleted the ubi-agni:rviz_fixes branch Nov 19, 2015

@rhaschke rhaschke restored the ubi-agni:rviz_fixes branch Nov 19, 2015

@rhaschke rhaschke reopened this Nov 19, 2015

@rhaschke rhaschke merged commit 697aeb9 into ros-planning:indigo-devel Nov 19, 2015

@rhaschke rhaschke deleted the ubi-agni:rviz_fixes branch Nov 19, 2015

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