refactor ROS2SpawnerComponent #26
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zakmat
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Jul 21, 2023
| { | ||
| for (auto spawnPoint : GetSpawnPoints()) | ||
| for (const auto& [name, info] : GetSpawnPoints()) |
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GetSpawnPoints is currently checking only children for SpawnPointComponent, what do you think about changing it to all descendants? Use case I have in mind: AMR docking station as a prefab - it could provide a spawning point right off the shelf
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I am converting to draft due to the major changes in the Spawner's design in the upstream. I will reevaluate on top of those |
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* Add spawner interface to allow selection of spawn points Signed-off-by: Artur Kamieniecki <[email protected]>
* add m_namespace so multiple Spawners can be defined without collisions * treat typo in spawn point name as error instead of creating in initial_pose * make code more idiomatic - use ROS2Conversion utils, structured bindings, avoid map double-lookups Signed-off-by: Mateusz Żak <[email protected]>
Signed-off-by: Mateusz Żak <[email protected]>
Signed-off-by: Mateusz Żak <[email protected]>
* allow spawning non-ROS prefabs in the scene e.g. parts of envirionment * use robot_namespace request field to customize name of the spawnable Signed-off-by: Mateusz Żak <[email protected]>
Signed-off-by: Mateusz Żak <[email protected]>
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MateuszWasilewski
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fix device no found
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This is an enabler for further work on forward_branch. However, enhancements are generic enough so it should be suitable for development after rebase
Changes: