Comments (6)
Everything is stored w.r.t. the map frame so I don't know what you mean with "publish". How to publish if this information is not present? I do think it is more logical to store entities w.r.t. their supporting objects but the current implementation of ED does not allow this. Properly implementing relative positions is going to be a lot of work and requires a lot of re-implementation of functionalities. We have done this in the past so if you are interested in doing this work, I can point you in the right direction. There are already pose crawlers etc. implemented.
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I do mean store. Let's have a short talk about this tomorrow. Then we can decide if this could be a side project.
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I agree with the idea. It feels more 'correct' to do something like that. The thought crossed my mind a few times as well. Let's talk about it tomorrow.
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In principle, this seems to make (much more) sense. Two comments:
- didn't we want to get rid of the huge amount of published tfs? In that case, we would have to cook up a better solution instead of simply attaching a different frame id
- practically: this will probably break a lot of stuff. If we want to do this, it might not be the right time.
Anyway, didn't hear this discussion yesterday but might be good to do this in the near future
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Question remains: is there an issue here? It's a lot of work just to check if it improves anything. So we should know that it is worth the effort. Also, there are other bugs in the association. I'm pretty sure of that. Maybe we should fix those first?
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I already labeled the issue as an enhancement. I do have seen some problems with the association during testing last week. But I don't have the knowledge to know what is the low hanging fruit.
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Related Issues (20)
- compiler warning HOT 1
- ED crashes when old instance of robot-console is used HOT 2
- ED cpu usage HOT 1
- ED out of bound errors
- Cannot clear entities without volumes HOT 3
- ED Crash: challenge restaurant in SIM HOT 1
- ED::ImageMask const_iterator
- Readme does not contain requirements for ed_msgs
- Thread "ed_main" received signal SIGSEGV, Segmentation fault. HOT 1
- Furniture convex hull rotation is not in entity frame (but in map frame)
- Update Documentation with SDF information
- Ignore Z in get_entity queries
- Introduce concave hulls HOT 2
- Reconsider the usage of data for people properties and the ability to update the data
- Error during catkin_make 'getModelFilePath’ is not a member of ‘sdf' HOT 11
- Shape loader overwrites shape type
- Error in parsing ED configuration file HOT 27
- remove dependency on tue-filesystem HOT 3
- Missing license HOT 1
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