adeguet1
commented
6 months ago I realize the GUI is bit confusing since the "overall" scale is not updated if one changes only one scale. It is currently possible to set the scale per teleop pair or for all teleop pairs. The /console/teleop/set_scale topic sets the overall scale. When received, it updates the console widget scale but also sends a set_scale to all the teleop pairs. At that point, the widgets for each pair also display the updated scale. But one can also change the scale for a single teleop pair, e.g. only the right hand using something like /MTMR_PSM1/set_scale. In that case, the console GUI is not updated, just the teleop widget. I'm not sure how frequently users want different scales but since it's a research platform, I would like to keep the ability to change the scale per pair. One thing we could do is set the console widget scale to something undefined if the teleop pairs use different scales. The current change would not solve this issue of different scale across teleop pairs.
Currently, if a PSM teleop scale is set in the console configuration file, the console GUI will show 0.2 instead of the actual teleop scale factor being used. This will make sure the console responds to PSM teleop scale-change events, so the actual teleop scale and the scale displayed in the GUI will stay in sync.