jros2 conversion - #241
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calvertdw
approved these changes
Jun 3, 2026
ds58
marked this pull request as ready for review
June 22, 2026 15:07
TomaszTB
reviewed
Jun 24, 2026
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I don't understand this diff.. can we trust it?
| api("us.ihmc:scs2-simulation:source") // TODO Need to fix this, it needs the Robot. | ||
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| api("us.ihmc:ihmc-robot-data-logger:0.37.3") | ||
| api("us.ihmc:ihmc-robot-data-logger:source") |
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| return "CAPTURE_CARD_MAGEWELL".equals(type) || "Magewell".equals(type); | ||
| } | ||
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| static boolean isBlackMagicCamera(Camera camera) | ||
| { | ||
| String type = camera.getTypeAsString(); | ||
| return "CAPTURE_CARD".equals(type) || "Capture Card".equals(type); |
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More magic strings that used to be static fields in messages
Collaborator
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Agreed, can we avoid this?
Contributor
Author
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We can't avoid this due to the way the logger is designed. It's due to the fact that Camera and CameraType classes are generated from .msg. We do not support enums in this case.
Collaborator
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Can we revert this file change? This method is more confusing and is wrong. Develop was fine for this file
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| return "CAPTURE_CARD_MAGEWELL".equals(type) || "Magewell".equals(type); | ||
| } | ||
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| static boolean isBlackMagicCamera(Camera camera) | ||
| { | ||
| String type = camera.getTypeAsString(); | ||
| return "CAPTURE_CARD".equals(type) || "Capture Card".equals(type); |
Collaborator
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Agreed, can we avoid this?
| return new FrameRamp3D(referenceFrame, toRamp3D(originPose, ramp3DDefinition)); | ||
| else if (definition instanceof ModelFileGeometryDefinition modelFileGeometryDefinition) | ||
| { | ||
| if (modelFileGeometryDefinition.getFileName() == null || modelFileGeometryDefinition.getFileName().isBlank()) |
Collaborator
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Do we need this? Is this related to this PR?
Contributor
Author
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I'd like to keep it because it adds safety. I was running into a bunch of exceptions with missing model file names
Collaborator
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Can we do this in a different PR then? What exceptions? Do we get those on develop?
TomaszTB
approved these changes
Jul 2, 2026
calvertdw
reviewed
Jul 2, 2026
| // For legacy logs we need to check what the batch size is | ||
| int storedBatchSize = logProperties.getVariables().getCompressionBatchSize(); | ||
| batchSize = storedBatchSize <= 0 ? 1 : storedBatchSize; | ||
| long storedBatchSize = logProperties.getVariables().getCompressionBatchSize(); |
Collaborator
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Why don't you just cast to int here
calvertdw
approved these changes
Jul 2, 2026
| api("us.ihmc:scs2-simulation:source") // TODO Need to fix this, it needs the Robot. | ||
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| api("us.ihmc:ihmc-robot-data-logger:0.37.3") | ||
| api("us.ihmc:ihmc-robot-data-logger:source") |
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| return "CAPTURE_CARD_MAGEWELL".equals(type) || "Magewell".equals(type); | ||
| } | ||
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| static boolean isBlackMagicCamera(Camera camera) | ||
| { | ||
| String type = camera.getTypeAsString(); | ||
| return "CAPTURE_CARD".equals(type) || "Capture Card".equals(type); |
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Summary
Migration from the legacy IHMC ROS 2 stack to jros2.