[OpenraveYarpPluginLoader] Enable file open with ResourceFinder

roboticslab-uc3m / openrave-yarp-plugins

OpenRAVE plugins to interface OpenRAVE with YARP.

https://robots.uc3m.es/openrave-yarp-plugins/

GNU Lesser General Public License v2.1

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[OpenraveYarpPluginLoader] Enable file open with ResourceFinder #99

Closed jgvictores closed 4 years ago

jgvictores commented 5 years ago

OpenraveYarpPluginLoader: Enable file open with ResourceFinder

NOTE: Before closing, edit https://github.com/roboticslab-uc3m/teo-configuration-files/blob/develop/scripts/bash/teoSim (https://github.com/roboticslab-uc3m/teo-configuration-files/blob/1a5dcee7331898b08edf920c9d462301d8dbc2ca/scripts/bash/teoSim) to not use the long hard-coded paths.

jgvictores commented 4 years ago

Race condition makes this this task slight difficult (robot must be loaded before open calls):

Open(...) is registered as a callback via string open and can be called several times, as in https://github.com/roboticslab-uc3m/openrave-yarp-plugins/blob/770fd8e7e6553287b5ba567f01e47090e6ead6de/libraries/OpenravePlugins/OpenraveYarpPluginLoader/README.md "funky commands".
Think about constructor
Also recall that main is a strange animal (tracked at https://github.com/roboticslab-uc3m/openrave-yarp-plugins/issues/30#issuecomment-306237545), which is called or not depending on how the OpenRAVE plugin is instanced.

jgvictores commented 4 years ago

Race condition makes this this task slight difficult (robot must be loaded before open calls):

Yes, there may be race conditions, so a mutex could be handy, but at least we are sure the CLI string open calls are called in order, because it's actually use who is parsing them at main().

jgvictores commented 4 years ago

OpenraveYarpPluginLoader: Enable file open with ResourceFinder

Implemented env at https://github.com/roboticslab-uc3m/openrave-yarp-plugins/commit/3078c0d28a0ea4f07e27603393b95519e6deeb10 and https://github.com/roboticslab-uc3m/openrave-yarp-plugins/commit/2e3916ee6496e21a658aeaa1858e4a81f0a9e452

jgvictores commented 4 years ago

NOTE: Before closing, edit https://github.com/roboticslab-uc3m/teo-configuration-files/blob/develop/scripts/bash/teoSim (https://github.com/roboticslab-uc3m/teo-configuration-files/blob/1a5dcee7331898b08edf920c9d462301d8dbc2ca/scripts/bash/teoSim) to not use the long hard-coded paths.

Done at https://github.com/roboticslab-uc3m/teo-configuration-files/commit/5a46cfd27f1d1c10915050d13251422f7c56b686