plan_route_plugin: waypoints_ relative to target_frame#554
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facontidavide wants to merge 4 commits intoswri-robotics:masterfrom
Open
plan_route_plugin: waypoints_ relative to target_frame#554facontidavide wants to merge 4 commits intoswri-robotics:masterfrom
facontidavide wants to merge 4 commits intoswri-robotics:masterfrom
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Hi,
this modification of plan_route_plugin is mostly related to code simplification.
waypoints will contain poses relative to target_frame_, not stu::_wgs84_frame. This greatly reduces the need for tf_manager_.GetTransform() in many locations of the file, making it more readable.
Only inside the method PlanRoute() the conversion from target_frame_ to stu::_wgs84_frame is done.
if the latter transform fails, the mnm::PlanRoute is still send, with:
but maybe you do NOT want to do this...
Similarly, in Draw(), if this fails
a straight line is drawn instead. Personal taste I guess.
Since I don't have the PlanRoute server, I am not able to thoughtfully test it, though.
UPDATE: of course I did test 90% of these changes on my own fork, but I am unable to properly check anything related to the Route server
Davide