conversions for Eigen::Isometry3d in ROS 2 - re-iteration#113
conversions for Eigen::Isometry3d in ROS 2 - re-iteration#113
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Follow advice of @tfoote
... as in tf1
Fix conflicts and adapt code to ROS 2.0 Edited by @vmayoral.
While cherry-picking changes to get isometry3d in
Picked also a leftover from the ROS2 conversion
Leave code as it was left by @clalancette. Only added some additional lines to test also Isometry as per the commits of Robert
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So I went ahead and manually cherry-picked all relevant changes from #93 in here. The diff now is actually rather silly so it seems that most changes are already in the |
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All right, I can see most of these changes got already in https://github.com/ros2/geometry2/pull/90/commits. Maybe @dirk-thomas you can squash all of them into a single small commit with "minor adjustments to tf2_eigen" or should we simply discard these changes? |
Cool, thanks.
Right. What's left here is actually formatting changes, and the removal of one method. Do we need this PR at all anymore? |
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| /** \brief Convert a Eigen::Vector3d type to a geometry_msgs::msg::Vector3. |
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This shouldn't be removed. Needed by collision_detection submodule of moveit2.
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Closing here, it modifies things that shouldn't be modified. Let me know @vmayoral or @dirk-thomas if you miss anything but I'd say we're good now for moveit2. |
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Yes, otherwise
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Ok, can you make a PR against |
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Follows from https://github.com/ros2/geometry2/pull/93/commits