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This commit is contained in:
Robert Haschke 2025-08-13 11:39:38 +02:00
parent 87b3701223
commit bf001bd093
2 changed files with 6 additions and 5 deletions

View File

@ -139,7 +139,8 @@ private:
Int i; Int i;
}; };
bool getRobotTipForFrame(const Property& property, const planning_scene::PlanningScene& scene, /** For a PoseStamped property, lookup the associated LinkModel* and yield the pose in global frame */
bool getRobotTipForFrame(const Property& tip_pose, const planning_scene::PlanningScene& scene,
const moveit::core::JointModelGroup* jmg, std::string& error_msg, const moveit::core::JointModelGroup* jmg, std::string& error_msg,
const moveit::core::LinkModel*& robot_link, Eigen::Isometry3d& tip_in_global_frame); const moveit::core::LinkModel*& robot_link, Eigen::Isometry3d& tip_in_global_frame);
} // namespace utils } // namespace utils

View File

@ -47,7 +47,7 @@ namespace moveit {
namespace task_constructor { namespace task_constructor {
namespace utils { namespace utils {
bool getRobotTipForFrame(const Property& property, const planning_scene::PlanningScene& scene, bool getRobotTipForFrame(const Property& tip_pose, const planning_scene::PlanningScene& scene,
const moveit::core::JointModelGroup* jmg, std::string& error_msg, const moveit::core::JointModelGroup* jmg, std::string& error_msg,
const moveit::core::LinkModel*& robot_link, Eigen::Isometry3d& tip_in_global_frame) { const moveit::core::LinkModel*& robot_link, Eigen::Isometry3d& tip_in_global_frame) {
auto get_tip = [&jmg]() -> const moveit::core::LinkModel* { auto get_tip = [&jmg]() -> const moveit::core::LinkModel* {
@ -62,7 +62,7 @@ bool getRobotTipForFrame(const Property& property, const planning_scene::Plannin
error_msg = ""; error_msg = "";
if (property.value().empty()) { // property undefined if (tip_pose.value().empty()) { // property undefined
robot_link = get_tip(); robot_link = get_tip();
if (!robot_link) { if (!robot_link) {
error_msg = "missing ik_frame"; error_msg = "missing ik_frame";
@ -70,7 +70,7 @@ bool getRobotTipForFrame(const Property& property, const planning_scene::Plannin
} }
tip_in_global_frame = scene.getCurrentState().getGlobalLinkTransform(robot_link); tip_in_global_frame = scene.getCurrentState().getGlobalLinkTransform(robot_link);
} else { } else {
auto ik_pose_msg = boost::any_cast<geometry_msgs::PoseStamped>(property.value()); auto ik_pose_msg = boost::any_cast<geometry_msgs::PoseStamped>(tip_pose.value());
tf2::fromMsg(ik_pose_msg.pose, tip_in_global_frame); tf2::fromMsg(ik_pose_msg.pose, tip_in_global_frame);
robot_link = nullptr; robot_link = nullptr;
@ -82,7 +82,7 @@ bool getRobotTipForFrame(const Property& property, const planning_scene::Plannin
error_msg = ss.str(); error_msg = ss.str();
return false; return false;
} }
if (!robot_link) if (!robot_link) // if ik_pose_msg.header.frame_id was empty, use default tip frame
robot_link = get_tip(); robot_link = get_tip();
if (!robot_link) { if (!robot_link) {
error_msg = "ik_frame doesn't specify a link frame"; error_msg = "ik_frame doesn't specify a link frame";