skeletonRetriever can now stream skeletons in the world frame, iff it gets connected to navController's state and cer_gaze-controller's state.
robotSkeletonPublisher can now stream robot's skeleton in the world frame, iff it gets connected to navController's state.
skeletonViewer is now thrifted (look up the available services) and can display lines on request. Because of this, skeletonScaler has been upgraded accordingly in order to talk to the viewer correctly.
Tests demonstrated to be successful
@vvasco keep note that the skeletons are streamed out in this modality using the setTransformation utility of the library. Further, given that all the transformations are now handled here, you ought to modify the existing application code accordingly.
This PR introduces the following options:
skeletonRetrievercan now stream skeletons in the world frame, iff it gets connected tonavController's state andcer_gaze-controller's state.robotSkeletonPublishercan now stream robot's skeleton in the world frame, iff it gets connected tonavController's state.skeletonVieweris now thrifted (look up the available services) and can display lines on request. Because of this,skeletonScalerhas been upgraded accordingly in order to talk to the viewer correctly.@vvasco keep note that the skeletons are streamed out in this modality using the
setTransformationutility of the library. Further, given that all the transformations are now handled here, you ought to modify the existing application code accordingly.