Code review of RFC - Simulation Interfaces#2
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jhanca-robotecai merged 4 commits intorb/sim_interfacesfrom Mar 17, 2025
Merged
Code review of RFC - Simulation Interfaces#2jhanca-robotecai merged 4 commits intorb/sim_interfacesfrom
jhanca-robotecai merged 4 commits intorb/sim_interfacesfrom
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Signed-off-by: Jan Hanca <jan.hanca@robotec.ai>
Signed-off-by: Jan Hanca <jan.hanca@robotec.ai>
PawelLiberadzki
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Reasonable propositions, that organize this document. I made few remarks for discussion, and few nitpicks.
| | SCOPE_STATE | Move all spawned entities to initial poses cached in `ROS 2 Entities manager`. | | ||
| | SCOPE_TIME | New call using `ROS2Bus` | | ||
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| ## SetSimulationState service |
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It may be worth noting here or under GetSimulationState, what will be the initial state? According to simulation interfaces RFC simulation starts as PAUSED.
Moreover, I would at least consider, what is before this? I guess the ROS 2 simulation interfaces become available only when simulation is initialized, and the state is first set to PAUSED.
michalpelka
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Mar 17, 2025
Signed-off-by: Jan Hanca <jan.hanca@robotec.ai> Co-authored-by: Michał Pełka <michal.pelka@robotec.ai> Co-authored-by: Paweł Liberadzki <pawel.liberadzki@robotec.ai> Signed-off-by: Jan Hanca <jan.hanca@robotec.ai>
Signed-off-by: Jan Hanca <jan.hanca@robotec.ai>
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This is my code review of #1 . The main goal was to make the text more formal (RFC style) and to make it easier to read by people less familiar with Simulation Interfaces. The changes are focused around the text - they do not really change the meaning of the RFC.
Additionally, the definitions of all ROS 2 interfaces were removed from this RFC, as they are not relevant. The links are left in the text.