Draft: Implement planar joints in CurrentStateMonitor #221
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rjoomen
reviewed
Jul 21, 2023
| * @param all_joint_names All joints in the environment | ||
| * @return Base joint names of the planar joints (the name in the urdf) | ||
| */ | ||
| std::vector<std::string> getPlanerJointNames(const std::vector<std::string>& all_joint_names) const; |
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Typo: should be getPlanarJointNames
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Requires tesseract #915. This listens to TF to update planar joints. We should probably do some more performance testing on this before merging. TFBuffers can add some CPU overhead. We could consider starting the buffer only if
!tf_updated_joints_.empty()