Speed up loading of KDL and SRV kinematic plugins#541
Speed up loading of KDL and SRV kinematic plugins#541davetcoleman wants to merge 2 commits intomoveit:indigo-develfrom davetcoleman:_kinematics_base_speedup
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…tr() function Conflicts: planning/srv_kinematics_plugin/include/moveit/srv_kinematics_plugin/srv_kinematics_plugin.h
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I think the old initialization function should either work correctly and print a deprecation warning or should not compile at all. As it is here, it will compile and then not work. Better to fail at compile time than run time.
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Good point, I was not sure best practice for this. The problem is that we have to keep this function for the IKFast plugins in the wild that we cannot port (without asking users to regenerate them) but for KDL we no longer need this function. I could leave all the old URDF loading code in this plugin to allow this function to still load without having a RobotModel passed to it, but that seems like an overly-complex solution. As long as the new initialize() function is implemented (as it is in this plugin) this old version will never be called unless somewhere else in the API someone calls this deprecated version. If they do, they are using MoveIt! wrong this friendly error message will be displayed. Please explain how I could do this better.
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I think you should keep the implementation in the old initialization function and print a deprecation warning there for now.
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See comment for moveit/moveit_core#216 |
* Implements optional ompl_planning config parameter 'force_joint_model_state_space'. * Renames parameter to 'enforce_joint_model_state_space'. Expands workaround comment.
This needs to be merged at the same time as moveit/moveit_core#216
Improves the KDL and SRV kinematic plugins to load faster by bypassing loading and parsing the robot model.
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