Transform poses in Path message correctly into fixed frame. #1246
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Orientations were not being transformed into fixed frame.
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I just recently took over maintenance of rviz and I'm trying to catch up with open PRs.
While I think your PR is reasonable to consider the orientation of individual poses, I'm wondering why the frame_id of all those individual stamped poses was and is still ignored. Currently, only the global frame_id of the Path msg is considered.
Is there a silent agreement that those stamps should be ignored? @wjwwood, can you shed light on this?
| msg->poses[ i ].pose.orientation.x, | ||
| msg->poses[ i ].pose.orientation.y, | ||
| msg->poses[ i ].pose.orientation.z); | ||
| axes_vect[i]->setOrientation(orientation); |
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Couldn't you simply use
axes_vect[i]->setOrientation(transform * orientation);
here?
| @@ -499,11 +499,11 @@ void PathDisplay::processMessage( const nav_msgs::Path::ConstPtr& msg ) | |||
| const geometry_msgs::Point& pos = msg->poses[ i ].pose.position; | |||
| Ogre::Vector3 xpos = transform * Ogre::Vector3( pos.x, pos.y, pos.z ); | |||
| axes_vect[i]->setPosition(xpos); | |||
| Ogre::Quaternion orientation(msg->poses[ i ].pose.orientation.w, | |||
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Please use const geometry_msgs::Quaternion& quat = msg->poses[ i ].pose.orientation as a shortcut here.
I know, it wasn't used before, but if we touch this code anyway ...
Not that I'm aware. I don't have any insight based on my experience. |
ghost
assigned
…alization#1246) Orientations were not being transformed into fixed frame. Extend test/send_path.py to also send oriented poses.
Orientations were not being transformed into fixed frame in the Path plugin.