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Adds get group urdf service #174

Merged
merged 3 commits into from
Jan 15, 2024
Merged

Adds get group urdf service #174

merged 3 commits into from
Jan 15, 2024

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sjahr
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@sjahr sjahr commented Jan 12, 2024

Required by moveit/moveit2#2649

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@marioprats marioprats left a comment

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Fly-by review.
Looks good, just minor questions about readability and error propagation.

srv/GetGroupUrdf.srv Outdated Show resolved Hide resolved
@@ -0,0 +1,4 @@
string group_name # Name of the planning group for which an URDF is requested
---
bool success # indicate successful run of the service

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Should we add an error_message field, to be filled in if the request fails?

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Good point! Currently, I publish the error details via the log in the move_group node but we can change that to a MoveItErrorMsg and add more information 👍

@sjahr sjahr requested a review from marioprats January 15, 2024 13:29
@sjahr sjahr merged commit 0e203aa into moveit:ros2 Jan 15, 2024
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3 participants