Dirty transforms in RobotState returned by getJointValueTarget()

[rkeatin3]

Hi all,

I was attempting to get the resultant end-effector pose of my move group as such after applying a number of joint value targets:

Eigen::Affine3d ee_pose = m_current_group->getJointValueTarget().getGlobalLinkTransform(ee_link);

Unfortunately, this will fail with the error Assertion `checkLinkTransforms()' failed.

Am I right in thinking this is the wrong behavior? 

As a workaround I modified the code as follows:

moveit::core::RobotState planned_state = m_current_group->getJointValueTarget();
planned_state.update();
Eigen::Affine3d ee_pose = planned_state.getGlobalLinkTransform(ee_link);

Best,

Ryan

[v4hn]

Please file a pull-request with the repository.

I would propose to add an optional parameter "update" - default true - to
`moveit::planning_interface::MoveGroupInterface::getJointValueTarget`
that triggers an update for the state.


v4hn

On Thu, Sep 14, 2017 at 01:53:10PM -0700, rkeatin3 wrote:
> Hi all,
>
> I was attempting to get the resultant end-effector pose of my move group as
> such after applying a number of joint value targets:
>
> Eigen::Affine3d ee_pose = m_current_group->getJointValueTarget().
> getGlobalLinkTransform(ee_link);
>

> Unfortunately, this will fail with the error *Assertion
> `checkLinkTransforms()' failed.*

>
> Am I right in thinking this is the wrong behavior?
>
> As a workaround I modified the code as follows:
> moveit::core::RobotState planned_state = m_current_group->
> getJointValueTarget();
> planned_state.update();
> Eigen::Affine3d ee_pose = planned_state.getGlobalLinkTransform(ee_link);

--
Michael Görner, M.Sc. Cognitive Science, PhD Student
Universität Hamburg
Faculty of Mathematics, Informatics and Natural Sciences
Department of Informatics
Group Technical Aspects of Multimodal Systems

Vogt-Kölln-Straße 30
D-22527 Hamburg

Room: F-315
Phone: +49 40 42883-2432
Website: https://tams.informatik.uni-hamburg.de/people/goerner/

[rkeatin3]

I'm happy to contribute a pull-request, but I'm having some trouble getting the source install to work on Jade. Is it a supported distro for the source install? I following installation steps for indigo with jade in its place, but my build is failing. How should I proceed?

[v4hn]

On Fri, Sep 15, 2017 at 10:50:40AM -0700, rkeatin3 wrote:
> I'm happy to contribute a pull-request, but I'm having some trouble getting

> the source install to work on Jade. [..] How should I proceed?

I'm a bit surprised to see requests for Jade after William's EOL Announcement
in Mid-July. https://discourse.ros.org/t/jade-eol-announcement/2240
But apparently the officially last sync happened only two weeks ago
https://discourse.ros.org/t/preparing-for-jade-sync-2017-09-01/2532

At one of the last maintainer meetings, we agreed to stop cherry-picking things
to our `jade-devel` branch unless someone explicitly asks for it. I believe
none of the active maintainers work with the jade-branch at the moment.
However it should compile of course. Make sure you checked out the correct
branches and if you still see errors, please file an issue with enough
information to debug this.


v4hn