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Feature: Add doTransform for Wrench messages #476

Merged
merged 3 commits into from
Dec 21, 2021
Merged

Feature: Add doTransform for Wrench messages #476

merged 3 commits into from
Dec 21, 2021

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destogl
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@destogl destogl commented Nov 15, 2021 •
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Added:

  • methods for transforming and converting Wrenches
  • toMsg method from tf2::Transform to geometry_msgs::msg::Transform (needed in the “backend” for Wrench transformation)

Changed:

  • simplified Vector3Stamped transform-code to reuse Vector3 transform logic (also needed for Wrenches)

This functionality is used in ros2_controllers for Admittance Controller

The code is ported from ros/geometry2#331

@destogl
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destogl commented Dec 21, 2021

ping... (?)

clalancette
clalancette approved these changes Dec 21, 2021
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Apologies for the delay here. This looks good to me. I'm going to run CI on it next.

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CI:

  • Linux Build Status
  • Linux-aarch64 Build Status
  • macOS Build Status
  • Windows Build Status

@clalancette clalancette merged commit 7a66009 into ros2:ros2 Dec 21, 2021
@destogl destogl deleted the destogl/feature/add-wrench-transform branch January 18, 2022 16:41
@clalancette clalancette mentioned this pull request Apr 29, 2022
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@aprotyas aprotyas aprotyas approved these changes

@clalancette clalancette clalancette approved these changes

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@destogl @clalancette @aprotyas