RSB Coordinate Transform: Issueshttps://code.cor-lab.de/https://code.cor-lab.de/favicon.ico?14019720732016-07-15T13:39:32ZOpen Source Collaboration Platform
Redmine Bug #2613 (New): rct requests and current system timehttps://code.cor-lab.de/issues/26132016-07-15T13:39:32ZM. Goerlichmgoerlic@techfak.uni-bielefeld.de
<p>In RCT a request with a time t_x that is issued and cannot be answered at t_now is changed to the system time of the first change of the TF tree (t_first_change = t_now).</p>
<p>If the request is answered for the modified, then either:</p>
<ul>
<li>you get the wrong transformation
<ul>
<li>when requesting the transformation that is one second old at program startup you will probably receive the current one instead of the message that the transform is not available</li>
</ul></li>
</ul>
<ul>
<li>you get no transformations at all
<ul>
<li>when playing back a tide-file and the transform publisher needs time for the transform calculation, since the current timestamp is probably not included in the tide-file.</li>
</ul></li>
</ul>
<p>Not changing the timestamp will lead to errors for case 1 (what you have to expect nevertheless) and correct results in case 2 (what you have to expect as well).</p>
<p>See <a class="external" href="https://github.com/leonziegler/rct-cpp/blob/master/core/src/rct/impl/TransformerTF2.cpp#L136">https://github.com/leonziegler/rct-cpp/blob/master/core/src/rct/impl/TransformerTF2.cpp#L136</a></p>
<p>Disclaimer: Except for if tf itself uses some internal clock, then things might get even weirder.</p> Bug #2607 (New): Fix performance issueshttps://code.cor-lab.de/issues/26072016-07-13T14:56:46ZN. Kösternkoester@techfak.uni-bielefeld.de
<p>Sending multiple transformations at the same time is not performant in the current implementation. Refs <a href="https://code.cor-lab.de/issues/2604" class="issue tracker-4 status-1 priority-4 priority-default" title="Create transformation type which holds multiple transformations (New)">#2604</a> <a href="https://code.cor-lab.de/issues/2605" class="issue tracker-1 status-1 priority-4 priority-default" title="Eliminate ROS dependency (New)">#2605</a></p> Bug #2606 (New): Eliminate timestamp field in the Transformation RSThttps://code.cor-lab.de/issues/26062016-07-13T14:56:32ZN. Kösternkoester@techfak.uni-bielefeld.de
<p>Instead of the timestamp field in the transformation RST, the RSB Event Creation Time should be used.</p> Bug #2605 (New): Eliminate ROS dependencyhttps://code.cor-lab.de/issues/26052016-07-13T14:54:20ZN. Kösternkoester@techfak.uni-bielefeld.de
<p>It could be possible to remove the ROS dependency which is currently required for the bridge. If done correctly, the rsb bridge and a script could do the bridging instead of the current cpp implementation in the rct-tools.</p> Tasks #2604 (New): Create transformation type which holds multiple transformationshttps://code.cor-lab.de/issues/26042016-07-13T14:52:30ZN. Kösternkoester@techfak.uni-bielefeld.de
<p>Currently, each transformation is send individually. Create an according meta type.</p> Tasks #2603 (New): Move internal transform type to RSThttps://code.cor-lab.de/issues/26032016-07-13T14:51:32ZN. Kösternkoester@techfak.uni-bielefeld.de
<p>The transform type used to send info via RSB is currently only internal. Move it to RST and adjust the usage in RCT</p> Tasks #2602 (New): Merge RCT from the github repositorieshttps://code.cor-lab.de/issues/26022016-07-13T14:50:08ZN. Kösternkoester@techfak.uni-bielefeld.de
<p>Copy the repositories as well as their history into according repositories</p>
<p>IMPORTANT: Also copy the branches!</p>