Reopen #85: Add capability to execute trajectory with a ROS action#94
Reopen #85: Add capability to execute trajectory with a ROS action#94davetcoleman merged 4 commits intomoveit:kinetic-develfrom rhaschke:execute-action
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- unified names of execute_trajectory service and action capabilities - consider overall (wall) timeout for waiting for action servers - output deprecation warning once during instantiation
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@rhaschke Thanks! The code looks good to me. |
| const ros::Duration &wait_for_server = ros::Duration(0, 0)); | ||
| const ros::WallDuration &wait_for_servers = ros::WallDuration()); | ||
| ROS_DEPRECATED MoveGroup(const Options &opt, const boost::shared_ptr<tf::Transformer> &tf = boost::shared_ptr<tf::Transformer>(), | ||
| const ros::Duration &wait_for_servers = ros::Duration()); |
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this should be MOVEIT_DEPRECATED: http://moveit.ros.org/documentation/contributing/code.html
- use MOVEIT_DEPRECATED instead of ROS_DEPRECATED - use separated function waitForExecuteActionOrService()
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+1, does @v4hn want to look at this? |
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I looked at it once and reviewed. If you think it is fine now, go ahead.
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* Add capability to execute trajectory as a ROS action * cleanup instantiation of MoveGroupInterface - unified names of execute_trajectory service and action capabilities - consider overall (wall) timeout for waiting for action servers - output deprecation warning once during instantiation * addressed Dave's comments - use MOVEIT_DEPRECATED instead of ROS_DEPRECATED - use separated function waitForExecuteActionOrService() * reduced sleeps to 0.001s again
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cherry-picked to J, not I |
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@davetcoleman |
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@wkentaro I'm really sorry, I didn't think about that. I checked the 4 commits and they were messy / not feature-grouped:
so did my standard squash-merge without thinking about attribution. I'm not sure there is an easy way to fix this other than reverting this change with a commit, then re-committing on top of that with a commit with your name on it. We'd have to do this twice for both branches. Is there any way you can still show to GSoC that this was in fact your work? |
I'm not sure how the GSoC admins evaluate the my final submission, because they don't say about it in the final evaluation instruction. |
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I did GSoC two years ago! From my experience I think you'll be fine |
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I see. That's fine then! 2016年8月25日木曜日、Dave Colemannotifications@github.comさんは書きました:
和田 健太郎 / Kentaro Wada |
cherry-pick #94 from kinetic-devel: execute action capability
This reopens #85/#60 against kinetic. As proposed in moveit/moveit_msgs#27 (comment), I suggest to drop that new feature for Indigo, because we require user intervention to switch
moveit_config's launch files to the new capability.Additional to @wkentaro great work (from #85), I cleaned up the waiting for required action servers and services to allow to issue the deprecation warning once on startup.