Adds multi (joint) state validation service #3426
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Looks great!
One question here: I assume a good bit of this code is copy pasted from the single state validation service, but done in a loop to prevent calling multiple services. Is there an opportunity to factor out the common code into a reusable utility function?
| moveit::core::RobotState rs = ls->getCurrentState(); | ||
| moveit::core::robotStateMsgToRobotState(robot_state, rs); | ||
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| for(int i=0; i<req->joint_states.size(); i++){ |
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Use ++i as in other loops
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| } | ||
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| // No need to check any more joint states after the first invalid one |
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Not necessarily, depends on whether users want speed or a complete list of the states that were invalid.
You could consider adding an "early stop" boolean in the service request?
Codecov ReportAll modified and coverable lines are covered by tests ✅
Additional details and impacted files@@ Coverage Diff @@
## main #3426 +/- ##
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- Coverage 45.85% 0.00% -45.84%
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Files 717 415 -302
Lines 62630 38645 -23985
Branches 7580 5352 -2228
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- Hits 28715 0 -28715
- Misses 33749 38645 +4896
+ Partials 166 0 -166 ☔ View full report in Codecov by Sentry. 🚀 New features to boost your workflow:
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sea-bass
added
backport-humble
Description
The normal state validation service is not very fast if you want to check a lot of joint states. This is significantly faster.
Requires moveit/moveit_msgs#186
Please could this be backported to humble
Checklist