fix #959: jumping marker in MOVE_3D mode

[rhaschke]

Initial fix for #959: jumping interactive marker in MOVE_3D mode.
I need to check whether other modes are affected too.

[rhaschke]

+1
All other modes worked (and still work) fine. I tested with standard basic_controls example,
defining base_link as a non-root frame in rviz. The only issue was with MOVE_3D and MOVE_ROTATE_3D when moving.

[rhaschke]

@wjwwood Could you please review this fix for #959 and consider it for merging?

[wjwwood]

Yeah, I'm currently working through the backlog. I want to get through them and make a release this week, so that I can fork for Qt5 and Kinetic.

[wjwwood]

Ok, I was able to reproduce this and see that this fixes the issue. Thanks!

I'm going to merge this, but @rhaschke if you have time, can you comment on how #935 and #937 related to this issue. They seem very similar, but I haven't looked into those just yet.

[rhaschke]

@wjwwood, indeed #935 and #937 describe exactly the same issue - I didn't see them when browsing the issue history. @jjnak found a quite similar solution to mine - removing the variable parent_to_grab_position_. However, his modification of the view plane computation results in strange results: If the reference frame is rotated, mouse motion in the view plane result in translations in depth instead of xy of view plane.

[jjnak]

Sorry for my delayed response. I've tried the current indigo-devel and it works very well. @rhaschke and @wjwwood, thanks a lot!