Fix for visualising attached shapes

VladimirIvan commented 10 months ago

Shapes created by defining custom links do not get published when calling publish_frames. This was because they were considered robot as robot geometry and got ignored. This avoids displaying the robot geometry twice, 1st as a part of the robot model and 2nd as the collision object published as a MarkerArray.

Adds a separate logic to publish custom shapes attached to the robot but ignoring the shapes defined in the URDF.
The links defined in the URDF are now correctly marked with is_robot_link=true. This is then used to distinguish links loaded from the URDF from custom links.

VladimirIvan commented 3 months ago

This wiil need rebasing after #756 is merged.

VladimirIvan commented 2 months ago

I checked the robot link checks. My edits were indeed not necessary. I removed the changes and rebased the branch and this PR doesn't bring any useful changes. I'm closing this now

ipab-slmc / exotica

Fix for visualising attached shapes #755