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asked 2012-07-20 00:50:50 -0600

dornhege gravatar image

Correct way of using MultiDOFJointState in arm_navigation_msgs/RobotState

I'm wondering what the correct way to state a multi-dof joint state in a RobotState.

The obvious way to me seemed to fill out the MultiDOFJointState part of the message with a transformation. However, I have found that RobotStates that I observed also contained joints like "floating_trans_x" in the joint_state part. The values seemed to be exactly the same as in the corresponding MultiDOFJointState. In addition when I tried to call some service filling only MultiDOFJointState it didn't work unless I filled the "floating..." joints.

So, my question is: What would be the correct/intended way of using a RobotState? Fill out both redundant versions or only use MultiDOFRobotState?

This is not necessarily the same as "make it work somehow" and fill out everything.

Correct way of using MultiDOFJointState in arm_navigation_msgs/RobotState

I'm wondering what the correct way to state a multi-dof joint state in a RobotState.RobotState.

The obvious way to me seemed to fill out the MultiDOFJointState part of the message with a transformation. However, I have found that RobotStates that I observed also contained joints like "floating_trans_x" in the joint_state part. The values seemed to be exactly the same as in the corresponding MultiDOFJointState. In addition when I tried to call some service filling only MultiDOFJointState it didn't work unless I filled the "floating..." joints.

So, my question is: What would be the correct/intended way of using a RobotState? Fill out both redundant versions or only use MultiDOFRobotState?

This is not necessarily the same as "make it work somehow" and fill out everything.

Correct way of using MultiDOFJointState in arm_navigation_msgs/RobotState

I'm wondering what the correct way to state a multi-dof joint state in a RobotState.

The obvious way to me seemed to fill out the MultiDOFJointState part of the message with a transformation. However, I have found that RobotStates that I observed also contained joints like "floating_trans_x" in the joint_state part. The values seemed to be exactly the same as in the corresponding MultiDOFJointState. In addition when I tried to call some service filling only MultiDOFJointState it didn't work unless I filled the "floating..." joints.

So, my question is: What would be the correct/intended way of using a RobotState? Fill out both redundant versions or only use MultiDOFRobotState?MultiDOFRobotState or only use the "floating..." joints?

This is not necessarily the same as "make it work somehow" and fill out everything.

Correct way of using MultiDOFJointState in arm_navigation_msgs/RobotState

I'm wondering what the correct way to state a multi-dof joint state in a RobotState.

The obvious way to me seemed to fill out the MultiDOFJointState part of the message with a transformation. However, I have found that RobotStates that I observed also contained joints like "floating_trans_x" in the joint_state part. The values seemed to be exactly the same as in the corresponding MultiDOFJointState. In addition when I tried to call some service filling only MultiDOFJointState it didn't work unless I filled the "floating..." joints.

So, my question is: What would be the correct/intended way of using a RobotState? Fill out both redundant versions or only use MultiDOFRobotState or only use the "floating..." joints?

This is not necessarily the same as "make it work somehow" and fill out everything.

Correct way of using MultiDOFJointState in arm_navigation_msgs/RobotState

I'm wondering what the correct way to state a multi-dof joint state in a RobotState.

The obvious way to me seemed to fill out the MultiDOFJointState part of the message with a transformation. However, I have found that RobotStates that I observed also contained joints like "floating_trans_x" in the joint_state part. The values seemed to be exactly the same as in the corresponding MultiDOFJointState. In addition when I tried to call some service filling only MultiDOFJointState it didn't work unless I filled the "floating..." joints.

So, my question is: What would be the correct/intended way of using a RobotState? Fill out both redundant versions or only use MultiDOFRobotState or only use the "floating..." joints?

This is not necessarily the same as "make it work somehow" and fill out everything.