Fmilano/cpt poinlaser hilti demo remove arm logic #105
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It is now assumed that when the HAL routine gets triggered, the arm is already in its initial pose. The latter is separately handled by the state machine.
The movements are now handled separately by the state machine. Note: this is a temporary commit, in a future version a separate service will be implemented to be called in order to take/add measurements after each movement of the routine.
The logic to handle arm movements are now handled separately by the state machine.
- Prototype of `initializeHALRoutine()`; - Forgotten semicolon; - Forgotten local variable declaration; - Style fix.
- Add further documentation on the way the method should be used; - Adapt return value based on success of the service call that turns the laser on; - Consequently adapt the return value of `MabiLocalizer::takeMeasurement`; - Add todo check.
Minor change: remove todo check.
The flag `initialized_hal_routine_` was wrongly set to true when the service turning the laser on failed to be executed.
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@hermannsblum In case you wanted to take a quick look, these are the changes that I made |
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Test FAILed. |
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Test FAILed. |
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…nlaser_hilti_demo_remove_arm_logic
hermannsblum
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Nov 6, 2020
modules/localization/cpt_pointlaser_loc/cpt_pointlaser_loc_ros/src/mabi_localizer.cpp
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Change style of non-package include.
This way, the modules that use `cpt_pointlaser_loc_ros` do not need to build a custom empty message type.
francescomilano172
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Removes arm-control logic from
MabiLocalizer. Now the HAL routine advertises two services:hal_take_measurement, that is expected to be called after the arm is moved, add takes laser measurements to be added to the factor graph, together with arm-odometry measurements;high_acc_localize: performs the actual HAL routine, by optimizing over the factor graph. Returns the corrected robot-base pose in the world frame.