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ros / geometry

Packages for common geometric calculations including the ROS transform library, "tf". Also includes ROS bindings for "bullet" physics engine and "kdl" kinematics/dynamics package.
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Fixed bug where parentless frames were reported as non existent #156

Closed gstavrinos closed 6 years ago

gstavrinos commented 6 years ago

Any comments on this?

tfoote commented 6 years ago

Can you clarify what you are seeing and what you expect to see. Your pull request is failing several unit tests related to this function.

gstavrinos commented 6 years ago

Hello Tully, thanks for replying.

In a tf tree like this: odom_root

The rospy frameExists always returns false for the root of the tf tree (odom). This started after the latest commits in geometry. (I noticed it after an upgrade through apt)

tfoote commented 6 years ago

As documented in the comment this function is specific one for backwards compatibility. It's closely connected to the internal logic where the parents are not explicitly recorded just referred to. I think you simply want to use the allFramesAsString method

You can see the different behavior is specifically called out in the unit tests.