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API review (2011-10-17)

Proposer: John Hsu

Present at review:

Proposed Robot Dynamics State Description Format

Examples

<model_state name="pr2">
  <link_state name="r_shoulder_pan_link">
    <id>0</id>
    <time>0</time>
    <reference_frame>base_link</reference_frame>
    <pose>0 0 1 0 0 0</pose>
    <twist>0 0 1 0 0 0</twist>
    <wrench>0 0 0 0 0 0</wrench>
  </link_state>
  <link_state name="r_shoulder_lift_link">
    <id>1</id>
    <time>0</id>
    <reference_frame>r_shoulder_pan_link</reference_frame>
    <pose>0 0 0 0 0 0</pose>
    <twist>0 0 0 0 0 0</twist>
    <wrench>0 0 0 0 0 0</wrench>
  </link_state>
</model_state>

<model_state name="pr2">
  <joint_state name="r_shoulder_lift_joint">
    <id>1</id>
    <time>0</id>
    <position>0</position>
    <velocity>0</velocity>
  </joint_state>
</model_state>

<model_state name="my_box">
  <reference_frame>r_shoulder_pan_link</reference_frame>
  <pose>0 0 0 0 0 0</pose>
  <link_state name="my_box0_link">
    <pose>0 0 0 0 0 0</pose>
  </link_state>
  <link_state name="my_box1_link">
    <pose>0 0 0.5 0 0 0</pose>
  </link_state>
</model_state>

Question / concerns / comments

Comments

Proposal: Rev 2

Option 1

Option 2

Example

Option 1:

<world name="world_1">
  <model_state name="pr2">
    <frame>
      <parent>odom</parent>
      <pose>0 0 0 0 0 0</pose>
      <twist>0 0 0 0 0 0</twist>
    </frame>
    <link_state name="r_shoulder_pan_link>
      <pose>1 0 1 0 0 0</pose>
      <twist>0 0 0 0 0 0</twist>
      <wrench>0 0 0 0 0 0</twist>
    </link_state>
  </model_state>
  <frame name="odom">
    <parent>world</parent>
    <pose>0 0 0 0 0 0</pose>
    <twist>0 0 0 0 0 0</twist>
  </frame>
</world>

Option 2:

<world name="world_1">
  <model_state name="pr2">
    <parent>odom</parent>
    <pose>0 0 0 0 0 0</pose>
    <twist>0 0 0 0 0 0</twist>
    <link_state name="r_shoulder_pan_link>
      <pose>1 0 1 0 0 0</pose>
      <twist>0 0 0 0 0 0</twist>
      <wrench>0 0 0 0 0 0</twist>
    </link_state>
  </model_state>
  <frame name="odom">
    <parent>world</parent>
    <pose>0 0 0 0 0 0</pose>
    <twist>0 0 0 0 0 0</twist>
  </frame>
</world>

Conclusion

Package status change mark change manifest)



2019-10-19 13:19