Add static pose publisher and support pose_v msg type in pose_publisher system #65
Conversation
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
nkoenig
reviewed
Apr 17, 2020
Merged
doxygen fixes Co-Authored-By: Nate Koenig <nkoenig@users.noreply.github.com>
Pr65 suggestions
nkoenig
approved these changes
Apr 17, 2020
|
@osrf-jenkins run tests |
Signed-off-by: Ian Chen <ichen@osrfoundation.org>
mjcarroll
reviewed
May 4, 2020
| /// performance. | ||
| public: ignition::msgs::Pose_V poseVMsg; | ||
|
|
||
|
|
There was a problem hiding this comment.
Nit: extra vertical whitespace
mjcarroll
reviewed
May 4, 2020
| { | ||
| auto entityIt = this->entitiesToPublish.find(entity); | ||
| if (entityIt == this->entitiesToPublish.end()) | ||
| continue; | ||
|
|
||
| if (this->usePoseV) | ||
| msg = this->poseVMsg.add_pose(); |
There was a problem hiding this comment.
Maybe curly braces around one line of logic.
mjcarroll
reviewed
May 4, 2020
| // frame_id: parent entity name | ||
| // child_frame_id = entity name | ||
| // pose is the transform from frame_id to child_frame_id | ||
| auto header = this->poseMsg.mutable_header(); | ||
| auto header = msg->mutable_header(); |
There was a problem hiding this comment.
Is there any chance of msg being null here?
There was a problem hiding this comment.
it should never be null. Added IGN_ASSERT to be sure. 4255f22
mjcarroll
reviewed
May 4, 2020
| } | ||
| mutex.unlock(); | ||
|
|
||
|
|
There was a problem hiding this comment.
Nit: extra vertical whitespace
mjcarroll
reviewed
May 4, 2020
test/worlds/pose_publisher.sdf
Outdated
| <static_publisher>true</static_publisher> | ||
| <use_pose_vector_msg>true</use_pose_vector_msg> | ||
| </plugin> | ||
|
|
mjcarroll
approved these changes
May 4, 2020
Signed-off-by: Ian Chen <ichen@osrfoundation.org>
Signed-off-by: Ian Chen <ichen@osrfoundation.org>
8 tasks
Sign up for free
to join this conversation on GitHub.
Already have an account?
Sign in to comment
Add this suggestion to a batch that can be applied as a single commit.
This suggestion is invalid because no changes were made to the code.
Suggestions cannot be applied while the pull request is closed.
Suggestions cannot be applied while viewing a subset of changes.
Only one suggestion per line can be applied in a batch.
Add this suggestion to a batch that can be applied as a single commit.
Applying suggestions on deleted lines is not supported.
You must change the existing code in this line in order to create a valid suggestion.
Outdated suggestions cannot be applied.
This suggestion has been applied or marked resolved.
Suggestions cannot be applied from pending reviews.
Suggestions cannot be applied on multi-line comments.
Suggestions cannot be applied while the pull request is queued to merge.
Suggestion cannot be applied right now. Please check back later.
Added two features to help reduce bandwidth of pose-publisher's pose topic
Static pose publisher:
<static_publisher>sdf element is set to true, a static pose publisher is created that publishes static pose transform for entities in the model that do not change pose. Links connected by joints are considered as dynamic entities (except for canonical link) and their pose is published to the original/model/[model_name]/posetopic, while the rest are published to the new/model/[model_name]/pose_statictopic./tf_statictopic so we don't have to keep publishing the data but I don't think ign transport has latched support yet. So I added<static_update_frequency>sdf element to let users configure / reduce the publisher's update ratePose_V message:
<use_pose_vector_msg>sdf element to support publishingignition::msgs::Pose_Vmsgs (vector of poses at one sim iteration) as opposed to individualignition::msgs::Pose msgs. This helps to reduce the number of published msgs with the trade-off of larger msg size. The default pose publisher's publish rate should now be equal to the simulation's update rate, whereas before the update rate was equal to num_entities_in_model * sim_update_raterelated ros_ign pull request