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RethinkRobotics / baxter

Baxter Research Robot SDK
www.rethinkrobotics.com/sdk
BSD 3-Clause "New" or "Revised" License
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trajectory_controller.py argument parsing issue #146

Closed pracsys closed 10 years ago

pracsys commented 10 years ago

In the version of this file tagged 0.6.2 we are unable to include this python file in a launch file because it does not properly parse the arguments. Please see http://diffchecker.com/uzfh0eep, which is a diff with the version of the file from the branch "gazebo_dev", which correctly parses the arguments. We have switched the files on our local environment, but it might help others if this were taken care of in the repository.

rethink-kmaroney commented 10 years ago

Thanks for this!

With the merge of pull #124 during ongoing 0.7 development, Rob has added this approach to all executables allowing usage with launch files. This will remain as the standard moving forward.

Thanks! Kyle

rethink-rlinsalata commented 10 years ago

Good point on the usefulness of sharing this change with others now.

Rather than wait till 0.7 is released, you can make the Pull Request for this diff to the branch user_contributions in sdk-examples, and we will merge it in there right now. The user_contributions branch is intended to serve as an open version of the current release where any changes the user community thinks are useful can be committed and shared.

Ongoing work in the development branch is always for the "next release" and thus, targeted at the "next" version of robot-side software. Occasionally (or really just because of the major upcoming release), the code has changed far enough away from the current release code in master, that the version in sdk-examples/development no longer functions smoothly with the previously released robot-software running on users' robots.

This is where the user_contributions branch is especially applicable. Any changes or back-ports users wish to have incorporated between releases can be Pull-Requested to be merged into the user_contributions branch (which itself is just a copy off the latest release branch). This should remain compatible with the current robot-software but allow new features and bug fixes to be contributed and be effective immediately for users.

Sorry to hijack the ticket as an opportunity to detail our git/branch/workflow. =)

For the curious, this page gives a good description of a branching model very similar to the one we use for the RSDK here at Rethink: http://nvie.com/posts/a-successful-git-branching-model/