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personalrobotics / or_rviz

OpenRAVE viewer plugin that publishes the environment to RViz as InteractiveMarkers.
BSD 2-Clause "Simplified" License
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Frames on startup #32

Closed mklingen closed 8 years ago

mklingen commented 8 years ago

or_rviz assumes the fixed frame is map on startup, but it could be arbitrary.

mklingen commented 8 years ago

confirmed that this bug only happens in rviz and not in InteractiveMarker. It turns out that frames can't be changed at all (!) in rviz

mklingen commented 8 years ago

Fixed by https://github.com/personalrobotics/or_rviz/commit/39f5077c4675e143fae343385ce4b951f7e36c78 . This was caused by me misinterpreting what was meant by setting the "parent frame" of the environment to whatever the fixed frame was. Rviz automatically transforms the markers into the proper fixed frame, and my code was just undoing the transformation.