Added sensor pose read & write services

stdr-simulator-ros-pkg / stdr_simulator

A simple, flexible and scalable 2D multi-robot simulator.

http://stdr-simulator-ros-pkg.github.io/

GNU General Public License v3.0

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Added sensor pose read & write services #201

Open jdsalmonson opened 7 years ago

jdsalmonson commented 7 years ago

Hello, In order to model my robot with your awesome STDR software, I needed to add the capability to query and change the sensor pose; my sensors are mounted on servos and thus are able to swivel back and forth. It works very nicely for my purposes and since it might be useful for others, I'm sending you a pull request with the implementation.
Thank you, Jay

czalidis commented 7 years ago

Hi Jay, thanks for your PR!

I will review your proposal as soon as I find some free time. We would have to adapt it a little bit after PR #202 gets merged, since it adds a static tf broadcaster for publishing the sensor poses, and we would need to republish every time they are updated.