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osrf / rmf_demos

Demos to showcase the capabilities of RMF
Apache License 2.0
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Use service request to get slotcar height instead of reading from its AABB component #171

Closed mrushyendra closed 3 years ago

mrushyendra commented 3 years ago

Optimization to avoid AxisAlignedBox computation when the slotcar moves. With this change, the ingestor ignition plugin makes a service request to the slotcar to read its dimensions instead. Also requires osrf/traffic_editor#271 to be merged.

luca-della-vedova commented 3 years ago

Just a high level feedback, is there a way to avoid the service calls and just act on components? For example if you know the name of the model you are dispensing to you could filter through components until you find one with the right Name, the add a bounding box to it and read the data straight away.

mrushyendra commented 3 years ago

When created, the bounding box component initially consists of just default Inf/0 values, so you need to wait until at least the next call to update/preupdate in order to be able to read the values. I couldn't find any way to immediately compute and read the values upon creating a component.