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UTNuclearRoboticsPublic / jog_arm

A real-time robot arm jogger.
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Robot model is loaded twice #57

Closed machinekoder closed 6 years ago

machinekoder commented 6 years ago

Robot model is loaded by collision check and the jogging thread, this adds unnecessary loading time.

AndyZe commented 6 years ago

Attempted to fix this today by moving robot_model_loader into the JogROSInterface class. If I do that, it must be static, since it's used in creation of the threads. However, robot_model_loader creates its own NodeHandle which requires ros::init() first, so it can't be static. I'm out of ideas for now.

AndyZe commented 6 years ago

Found a way to do this with pointers. 6e93371

machinekoder commented 6 years ago

Yes, looks good. Great that you use smart pointers btw.