Feat: add default joints values when creating a POI #17
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alex-arnal
approved these changes
Feb 11, 2025
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| success,msg=self.save_poi_service(new_point.name,new_point.header.frame_id,new_point.pose) | ||
| #fill new dictionary with the camera joint states taken from the joint_states_dict | ||
| poi_joint_dict = {} | ||
| for i in self.joint_states_dict: | ||
| if "camera" in i: | ||
| if "zoom" in i: | ||
| poi_joint_dict[i] = 1.0 | ||
| else: | ||
| poi_joint_dict[i] = 0.0 | ||
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| success,msg=self.save_poi_service(new_point.name, new_point.header.frame_id, new_point.pose, poi_joint_dict) | ||
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We wanted to replicate the behavior that we currently have when storing a POI using the "Current pose" option. When pressing the "New" option we want to store the position of the interactive_marker but storing the joint_states value (all joints info). So replacing this:
success,msg=self.save_poi_service(new_point.name,new_point.header.frame_id,new_point.pose)by this:
success,msg=self.save_poi_service(new_point.name, new_point.header.frame_id, new_point.pose, self.joint_states_dict)should be enough. We do not need to set a default camera joint values
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This pull request includes a change to the
poi_marker.pyfile, specifically in thecreateNewPOImethod. The change involves adding a new dictionary to handle camera joint states and passing it to thesave_poi_servicemethod.Improvements to handling POI creation:
poi_manager/src/poi_manager/poi_marker.py: Added a dictionary (poi_joint_dict) to store camera joint states and updated the call tosave_poi_serviceto include this dictionary. This ensures that camera joint states are correctly managed when creating a new POI.