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Disambiguate "estimate" pose from "goal" pose in log #427

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merged 2 commits into from
Jul 17, 2019
Merged

Disambiguate "estimate" pose from "goal" pose in log #427

merged 2 commits into from
Jul 17, 2019

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rotu
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@rotu rotu commented Jul 11, 2019

Fixes #417
Previously setting a 2D Pose Estimate then a 2D Nav Goal would log something like:

[INFO] [rviz2]: Setting goal: Frame:map, Position(1.30849, -2.7475, 0), Orientation(0, 0, 0.624316, 0.781172) = Angle: 1.34851
[INFO] [rviz2]: Setting goal: Frame:map, Position(-2.8186, 2.15941, 0), Orientation(0, 0, 0.555852, 0.831281) = Angle: 1.17878

Now it logs something like:

[INFO] [rviz2]: Setting estimate pose: Frame:map, Position(0.672111, -0.269852, 0), Orientation(0, 0, -0.964214, 0.265125) = Angle: -2.60493
[INFO] [rviz2]: Setting goal pose: Frame:map, Position(0.259397, 0.284402, 0), Orientation(0, 0, -0.98341, 0.181399) = Angle: -2.77678

jacobperron
jacobperron approved these changes Jul 13, 2019
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LGTM

We're having technical difficulties with Windows builds so I'll try to retrigger CI for it later:

  • Linux Build Status
  • Linux-aarch64 Build Status
  • macOS Build Status
  • Windows N/A

rotu
rotu commented Jul 16, 2019
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@jacobperron Done. How do I request a re-review

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@jacobperron Done. How do I request a re-review

Just like that 😄

jacobperron
jacobperron approved these changes Jul 16, 2019
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  • Linux Build Status
  • Linux-aarch64 Build Status
  • macOS Build Status
  • Windows Build Status

Edit: re-trigger Windows.

@jacobperron jacobperron merged commit e65c1c6 into ros2:ros2 Jul 17, 2019
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@rotu Thanks for the contribution!

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Successfully merging this pull request may close these issues.

When setting a 2D Pose Estimate, RViz incorrectly logs "Setting goal"
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@rotu @jacobperron