Comments (6)
Also, could you update the documentation of the
TFClient
to show how to cancel a specific goal? I've been usingthis.TfClient.currentGoal.cancel();
to cancel a specific goal orthis.TfClient.actionClient.cancel();
to cancel all goals.
Could you create a separate issue for this?
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By changing the goal_id
to be static. The actionlib
becomes useless for normal action interfaces. So that is the difficulty of this. Which is why a major refactor would be required.
Also only one client should own a goal_id
. So by using a static one. The whole canceling become very complex.
from roslibjs.
I don't think this is possible. This would require a major refactor of the code. I don't have the resources to do that. So you would need to develop it mostly yourself. But when working correctly and not breaking current behaviour. I am happy to integrate it.
from roslibjs.
I'm still new to javascript. Have tried to change the goal_id
in roslibjs/src/actionlib/Goal.js
and making it static then following the build instruction. That didn't work as I might be somehow importing the wrong module. Any advise or comments are appreciated. If I get this simple change to work, I can get the TFClient
to have an option of using a static goal_id
.
from roslibjs.
yes I understand that. Making it static would only be a first step for me to test that the concept works. Later a different goal object can be created and used only with TFClient
or StaticTFClient
.
The solution would also require a custom or modified tf2_web_republisher
. I already have the republisher made, and I'll keep working on the static goal_id when I have time. I'm just having trouble importing the newly built roslibjs.
Once I get both sides (tf2_web_republisher
and TFClient
) to communicate, I can clean the code and make it robust.
from roslibjs.
As long as you only changed code inside the functions, you should still be able to compile the library. Once you start adding classes. I think these should be in their own file. (Not 100% sure). And don't forget to extend the index files in that case.
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Related Issues (20)
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