Tf2 republisher service #144
Conversation
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What about backwards compatibility? My concern is with Groovy clients (e.g., many PR2 users). Groovy build farms are no longer running so the new tf2 cannot be passed to Groovy. This would effectively make RWT Hydro+ from here on. |
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Oh, I hadn't thought of that. Would it be better to make this a separate TFClient2 or something then? Or, more conveniently, check the "/rosversion" parameter to decide which TFClient implementation to use? |
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Is it possible to keep both methods in TF2 and have roslib default to the old one and have a flag for the service based method? |
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👍 By "keep both methods in TF2", do you mean keeping the action interface in tf2_web_republisher too? |
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Yeah |
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Will do that tonight. Is it okay to keep the old action implementation as |
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I think they should be in the same node, just different interfaces into it. Seems like a lot of reusable code between the two interfaces. |
…lisher based on ros.groovyCompatibility
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Alright, the current version passes the travis tests, but also works with the new Service interface if |
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| this.currentGoal.on('feedback', this.processTFArray.bind(this)); |
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You don't need to bind here, EventEmitter will call in the context of this
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Merge conflict? |
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Also, #144 should now let the tests pass once the merge conflict is fixed, it installs tf2 republisher locally from source until it is released. |
Turns out it was necessary after all. This reverts commit ea7a9d5.
Change TFClient to use the new version of tf2_web_republisher (see RobotWebTools/tf2_web_republisher#15 and RobotWebTools/tf2_web_republisher#16 )
| this.updateDelay = options.updateDelay || 50; | ||
| var seconds = options.topicTimeout || 2.0; | ||
| var secs = Math.floor(seconds); | ||
| var nsecs = Math.floor((seconds - secs) * 1000000000); |
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Probably should have a helper for doing this, I've been mixing it in quite frequently
Change TFClient to use the new version of tf2_web_republisher (see RobotWebTools/tf2_web_republisher#15 and RobotWebTools/tf2_web_republisher#16 )
Travis job will fail until the new tf2_web_republisher is propagated to the apt sources. Sorry about that.