Add transformed yaml pose generator plugin#45
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nikhil-sethi wants to merge 2 commits intoros-industrial:masterfrom
Open
Add transformed yaml pose generator plugin#45nikhil-sethi wants to merge 2 commits intoros-industrial:masterfrom
nikhil-sethi wants to merge 2 commits intoros-industrial:masterfrom
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- helpful if toolpaths are in a different frame - can only be used if upstream reach library has the yaml plugin
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Note: pipeline fails because this PR depends on the related reach PR. I can update branch in |
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Description
Based on the discussion here, and a related PR, this PR adds a transform plugin for the YAMLTargetPoseGenerator that allows transforming the target points between two TF frames.
It's basically repeated code from an existing plugin called
TransformedPointCloudTargetPoseGeneratorwith the class name changed. It could be useful to think of ways to not repeat such code. Maybe creating a templated Transformer class could help.Or if we don't expect many other classes that use the transformation then this is ok for now I think.
Let me know what you think @marip8