separate collision_object creation from publishing #55
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| * \param pose - location of center of block | ||
| * \param name - semantic name of MoveIt collision object | ||
| * \param size - height=width=depth=size | ||
| * \param color to display the collision object with | ||
| * \return true on sucess | ||
| **/ | ||
| moveit_msgs::CollisionObject createCollisionBlock(const geometry_msgs::Pose& block_pose, const std::string& name, | ||
| double block_size); |
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is it possible for the CollisionObject msgs type to support color as well?
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we would have to change the msg
| @@ -323,33 +323,40 @@ class MoveItVisualTools : public rviz_visual_tools::RvizVisualTools | |||
| const rviz_visual_tools::colors& color = rviz_visual_tools::GREEN); | |||
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| /** | |||
| * \brief Create a MoveIt Collision block at the given pose | |||
| * \brief Create/Publish a MoveIt Collision block at the given pose | |||
| * \param pose - location of center of block | |||
| * \param name - semantic name of MoveIt collision object | |||
| * \param size - height=width=depth=size | |||
| @@ -323,33 +323,40 @@ class MoveItVisualTools : public rviz_visual_tools::RvizVisualTools | |||
| const rviz_visual_tools::colors& color = rviz_visual_tools::GREEN); | |||
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| /** | |||
| * \brief Create a MoveIt Collision block at the given pose | |||
| * \brief Create/Publish a MoveIt Collision block at the given pose | |||
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i'd rather you copy this doxygen for reach function. it seems these two functions due fairly different things, and the \brief should explain that difference better.
| @@ -323,33 +323,40 @@ class MoveItVisualTools : public rviz_visual_tools::RvizVisualTools | |||
| const rviz_visual_tools::colors& color = rviz_visual_tools::GREEN); | |||
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| /** | |||
| * \brief Create a MoveIt Collision block at the given pose | |||
| * \brief Create/Publish a MoveIt Collision block at the given pose | |||
| * \param pose - location of center of block | |||
| * \param point1 - top left of rectangle | ||
| * \param point2 - bottom right of rectangle | ||
| * \param name - semantic name of MoveIt collision object | ||
| * \param color to display the collision object with | ||
| * \return true on sucess | ||
| **/ | ||
| moveit_msgs::CollisionObject createCollisionObject(const Eigen::Vector3d& point1, const Eigen::Vector3d& point2, |
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this should be createCollisionCuboid right? Even better: createCollisionCuboidMsg
| @@ -358,6 +365,10 @@ class MoveItVisualTools : public rviz_visual_tools::RvizVisualTools | |||
| * \param color to display the collision object with | |||
| * \return true on sucess | |||
| **/ | |||
| moveit_msgs::CollisionObject createCollisionObject(const Eigen::Isometry3d& pose, double width, double depth, | |||
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same comments:
rename function to include Cuboid
src/moveit_visual_tools.cpp
Outdated
| double depth, double height, | ||
| const std::string& name) | ||
| { | ||
| geometry_msgs::Pose pose_msg = tf2::toMsg(pose); |
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typically in *_visual_tools, we use the built-in converter helper function rather than tf2, could you use that? e.g. convertPose()
same below
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@davetcoleman Done |
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Ive just retriggered travis, but i think you need to rebase on master with the travis fix you just made? |
davetcoleman
approved these changes
Aug 20, 2019
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Git seems to have messed up the diff. Any suggestions to avoid this?