Merge pull request #240 from compas-dev/fix-tool-frame

Two fixes in one

Author: gonzalocasas

CHANGELOG.rst

@@ -17,6 +17,8 @@ Unreleased
 **Fixed**
 
 * Fixed bug in ``add_attached_tool`` of ``PlanningScene``
+* Fixed ``frame_id`` generation when tool name changes
+* Fixed freeze with some sync planning scene methods on Grasshopper/IronPython
 
 **Deprecated**
 

src/compas_fab/backends/ros/service_description.py

@@ -8,6 +8,9 @@
 from __future__ import division
 from __future__ import print_function
 
+import types
+
+import compas
 from roslibpy import Service
 from roslibpy import ServiceRequest
 
@@ -30,6 +33,14 @@ def __init__(self, name, service_type, request_class=None, response_class=None,
 
     def call(self, client, request, callback, errback):
         def inner_handler(response_msg):
+            if not compas.PY3:
+                # IronPython sometimes decides it's a good idea to use an old-style class
+                # to pass the response_msg around, so we need to make sure we turn it into
+                # a proper ServiceResponse again
+                # https://github.com/compas-dev/compas_fab/issues/235
+                is_old_style_class = isinstance(response_msg, types.InstanceType)
+                if is_old_style_class:
+                    response_msg = dict(response_msg)
             response_object = self.response_class.from_msg(response_msg)
 
             # Validate the response if there's a validator function assigned
@@ -39,14 +50,12 @@ def inner_handler(response_msg):
                 except Exception as e:
                     errback(RosValidationError(e, response_object))
                     return
-
             callback(response_object)
 
         if isinstance(request, tuple):
             request_msg = self.request_class(*request)
         else:
             request_msg = self.request_class(**request)
-
         srv = Service(client, self.name, self.type)
         srv.call(ServiceRequest(request_msg.msg),
                  callback=inner_handler, errback=errback)

src/compas_fab/robots/tool.py

@@ -37,25 +37,25 @@ class Tool(object):
     def __init__(self, visual, frame_in_tool0_frame, collision=None,
                  name="attached_tool", link_name=None):
         self.tool_model = ToolModel(visual, frame_in_tool0_frame, collision, name, link_name)
-        self.attached_collision_meshes = self.get_attached_collision_meshes()
 
     @classmethod
     def from_tool_model(cls, tool_model):
         tool = cls(None, None)
         tool.tool_model = tool_model
-        tool.attached_collision_meshes = tool.get_attached_collision_meshes()
         return tool
 
-    def get_attached_collision_meshes(self):
-        tool_attached_collision_meshes = []
+    @property
+    def attached_collision_meshes(self):
+        acms = []
         for link in self.tool_model.iter_links():
-            for item in link.collision:
+            for i, item in enumerate(link.collision):
                 meshes = Geometry._get_item_meshes(item)
                 for mesh in meshes:
-                    collision_mesh = CollisionMesh(item, mesh)
+                    collision_mesh_name = '{}_collision_{}'.format(link.name, i)
+                    collision_mesh = CollisionMesh(mesh, collision_mesh_name)
                     attached_collision_mesh = AttachedCollisionMesh(collision_mesh, self.link_name, [self.link_name])
-                    tool_attached_collision_meshes.append(attached_collision_mesh)
-        return tool_attached_collision_meshes
+                    acms.append(attached_collision_mesh)
+        return acms
 
     @property
     def link_name(self):
@@ -89,7 +89,6 @@ def data(self):
     @data.setter
     def data(self, data):
         self.tool_model.data = data
-        self.attached_collision_meshes = self.get_attached_collision_meshes()
 
     @classmethod
     def from_data(cls, data):