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ros / roslisp_common

Clone of the old roslisp_common SVN repo from code.ros.org.
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transform broadcaster simple and transform broadcaster static #46

Closed gheorghelisca closed 8 years ago

gheorghelisca commented 8 years ago
gheorghelisca commented 8 years ago

@gaya- , @airballking guys, i needed this functionality for the acat demo and now i need it again for the robohow demo. Please let's try to merge the pull request as soon as possible such that i can move on.

gaya- commented 8 years ago

@gheorghelisca, thanks for the PR. I find this functionality very useful and I remember needing a broadcaster like this and there not being one available. However, as I also mentioned in https://github.com/ros/roslisp_common/pull/43, could we maybe merge the new broadcaster functionality with the old one from cl-tf? Otherwise it is confusing why there are two different broadcasters and what exactly the differences are. Also, why do they belong to different ROS packages. It would be great to keep the old functionality, which is a subset of the new functionality, try to make minimal changes to the old API, and add the new great functionality on top.

gheorghelisca commented 8 years ago

@gaya- sure gaya. i will: move the source code file broadcaster.lisp from cl-tf into cl-transforms-stamped and update the new code into it.

gheorghelisca commented 8 years ago

a new pull request is almost ready - this one doesn't take into account all aspects