[shape_msgs] New Bounds Msg #278
Conversation
Signed-off-by: David V. Lu <[email protected]>
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Added to PMC agenda for May 6th. |
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| # bounds type | ||
| uint8 TYPE_EMPTY = 0 # No bounds. The points vector will be empty. | ||
| uint8 TYPE_BOX = 1 # Axis-aligned bounding box, points field should have two values, |
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What frame is the axis aligned bounding box aligned to?
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That's an entirely reasonable question, and looking back, there is no frame specification anywhere. @adamdbrw was there a conversation about this in ros-simulation/simulation_interfaces#1
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It is specified:
For entities, these limits are relative to entity's canonical link transform, following ROS rep-103 convention.
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This pull request has been mentioned on ROS Discourse. There might be relevant details there: https://discourse.ros.org/t/ros-pmc-minutes-for-may-6-2025/43576/1 |
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There does not seem to be a significant difference between this proposal and https://github.com/ros2/common_interfaces/blob/rolling/shape_msgs/msg/SolidPrimitive.msg What's the semantic difference and why does it have the slightly different list of primatives selected? |
This is the definition of Bounds from ros-simulation/simulation_interfaces#1
I feel it should be moved to this upstream package for some future distro.