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fzi-forschungszentrum-informatik / cartesian_controllers

A set of Cartesian controllers for the ROS1 and ROS2-control framework.
BSD 3-Clause "New" or "Revised" License
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Motion control handle jumps when switching fixed reference frame in Rviz2 #199

Closed Hydran00 closed 1 month ago

Hydran00 commented 5 months ago

Hi, I noticed that the motion control handle jumps in a wrong pose when I change the Fixed Frame under Global Options in Rviz2. This happens as soon as I try to move the handle after switching the fixed frame. I managed to solve this error with minor modification accounting for the header of the feedback message coming from the handle when the

m_server->setPose(...)

is called in the updateMotionControlCallback function. I also added a check on the frame_id in the update function to prevent the selection of a non-fixed frame.

stefanscherzinger commented 5 months ago

Thanks @Hydran00 for spotting this! I'll have a look.

stefanscherzinger commented 1 month ago

@Hydran00 I merged this in #213. Notice that I couldn't merge your PR directly, because code formatting was needed and you didn't allow changes on your fork, more info here.