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fix initial pose and goal buttons #1510

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merged 3 commits into from May 29, 2020

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doisyg
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@doisyg doisyg commented May 27, 2020

Fix #1509
The wrong TF2 conversion was used

@rhaschke
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Can you explain a little bit more, what is wrong with tf2::convert? Shouldn't that work as well?

@doisyg
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doisyg commented May 27, 2020

http://docs.ros.org/noetic/api/tf2/html/namespacetf2.html#af1255c37833c838543b512febce5e9b1
http://wiki.ros.org/tf2/Tutorials/Quaternions

void tf2::convert ( const A &  a,  B & b ) 
a | an object to convert from
b | the object to convert to

a and b were inverted, quat_msg = tf2::toMsg(quat_tf) does the same and has the advantage of being less ambiguous

@doisyg
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doisyg commented May 27, 2020

But I will happily fix it using convert the other way around if preferred

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I see. Thanks for clarification.
There might be other places in the rviz code base using tf2::convert in the wrong order. It would be great, if you could check (and fix) them as well. I prefer the less ambiguous toMsg() / fromMsg() too. Thanks for your help!

@doisyg
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doisyg commented May 27, 2020

@rhaschke
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Just to improve readability / reduce ambiguity, I would appreciate it if you could replace those instances as well.

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doisyg commented May 27, 2020

Done

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Could you please fix the clang-format issues indicated by Travis yourself here?

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Thanks a lot.

@rhaschke rhaschke merged commit dc2a367 into ros-visualization:noetic-devel May 29, 2020
rhaschke pushed a commit that referenced this pull request May 29, 2020
This fixes the tools: initial pose and goal pose (issue #1509)
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2 participants