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verified publisher icon ADVRHumanoids

Local api fix

Open EnricoMingo opened this issue 1 year ago • 2 comments

This pull request add the possiblity to set local velocity references for Cartesian task. While this was already possible using the topic by changing the frame_id entry of the message (as suggested by @alaurenzi), a method for the C++/Python API was missing. This is now done through a flag which is also recognized by the cartesian tasks properties. The property is called use_local_velocity, it can be set through service, in the yaml file, or via C++/Python API. Is set to True, the frame_id is ignored when using the topic (maybe we can add a ROS info if needed)

EnricoMingo avatar Sep 27 '24 14:09 EnricoMingo

Hi @EnricoMingo I find it a bit confusing / error prone that a setter method works differently based on a flag that is set elsewhere (and not directly in the method's signature)

alaurenzi avatar Oct 09 '24 09:10 alaurenzi

Do you suggest putting these frag directly in the reference setters methods?

EnricoMingo avatar Oct 10 '24 07:10 EnricoMingo