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[pr2eus_moveit] align the center of primitive cylinder between eus and moveit #497

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[pr2eus_moveit] align the center of primitive cylinder between eus and moveit #497

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061c15a
matched the center of primitive cylinder between eus and moveit
soonhyo Dec 5, 2024
7a26e6b
removed overused let
soonhyo Dec 6, 2024
7943554
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soonhyo Dec 6, 2024
d562110
changed indent and position of comment
soonhyo Dec 6, 2024
d92d53d
Merge branch 'master' into match-cylinder-center
pazeshun Jan 9, 2025
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8 changes: 7 additions & 1 deletion pr2eus_moveit/euslisp/collision-object-publisher.l
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Original file line number Diff line number Diff line change
Expand Up @@ -81,7 +81,13 @@
(send colobj :primitive_poses
(append pose
(list
(ros::coords->tf-pose (if relative-pose relative-pose (send obj :worldcoords))))))))
(ros::coords->tf-pose (let* ((coords (if relative-pose
relative-pose
(send obj :worldcoords)))
(hv (float-vector 0 0 (/ (height-of-cylinder obj) 2)))
(hv-t (send coords :transform-vector hv)))
;; Adjust the pose in the message to align EusLisp cylinder (origin at base) with MoveIt cylinder (origin at center).
(make-coords :pos hv-t :rot (send coords :rot)))))))))
((and (derivedp obj body) (eq (car (send obj :body-type)) :cube))
(let ((geom (send colobj :primitives))
(pose (send colobj :primitive_poses)))
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