{"action":"created","issue":{"url":"https://api.github.com/repos/ros-simulation/stage_ros/issues/27","labels_url":"https://api.github.com/repos/ros-simulation/stage_ros/issues/27/labels{/name}","comments_url":"https://api.github.com/repos/ros-simulation/stage_ros/issues/27/comments","events_url":"https://api.github.com/repos/ros-simulation/stage_ros/issues/27/events","html_url":"https://github.com/ros-simulation/stage_ros/pull/27","id":121377115,"number":27,"title":"Add pose subscriber (instead of #26)","user":{"login":"gerkey","id":1188842,"avatar_url":"https://avatars.githubusercontent.com/u/1188842?v=3","gravatar_id":"","url":"https://api.github.com/users/gerkey","html_url":"https://github.com/gerkey","followers_url":"https://api.github.com/users/gerkey/followers","following_url":"https://api.github.com/users/gerkey/following{/other_user}","gists_url":"https://api.github.com/users/gerkey/gists{/gist_id}","starred_url":"https://api.github.com/users/gerkey/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/gerkey/subscriptions","organizations_url":"https://api.github.com/users/gerkey/orgs","repos_url":"https://api.github.com/users/gerkey/repos","events_url":"https://api.github.com/users/gerkey/events{/privacy}","received_events_url":"https://api.github.com/users/gerkey/received_events","type":"User","site_admin":false},"labels":[],"state":"open","locked":false,"assignee":null,"milestone":null,"comments":3,"created_at":"2015-12-10T00:53:53Z","updated_at":"2015-12-10T14:07:46Z","closed_at":null,"pull_request":{"url":"https://api.github.com/repos/ros-simulation/stage_ros/pulls/27","html_url":"https://github.com/ros-simulation/stage_ros/pull/27","diff_url":"https://github.com/ros-simulation/stage_ros/pull/27.diff","patch_url":"https://github.com/ros-simulation/stage_ros/pull/27.patch"},"body":"Added @slremy's changes from #26 to add a Pose subscriber. Then I:\r\n* changed the topic name from 'pose' to 'cmd_pose', for parallelism with 'cmd_vel' (yes, that should probably be 'cmd_twist' instead, but we're not changing that now)\r\n* added tests for the effects of publishing to cmd_vel and cmd_pose (with a new test dep on rospy)"},"comment":{"url":"https://api.github.com/repos/ros-simulation/stage_ros/issues/comments/163629159","html_url":"https://github.com/ros-simulation/stage_ros/pull/27#issuecomment-163629159","issue_url":"https://api.github.com/repos/ros-simulation/stage_ros/issues/27","id":163629159,"user":{"login":"daenny","id":3392004,"avatar_url":"https://avatars.githubusercontent.com/u/3392004?v=3","gravatar_id":"","url":"https://api.github.com/users/daenny","html_url":"https://github.com/daenny","followers_url":"https://api.github.com/users/daenny/followers","following_url":"https://api.github.com/users/daenny/following{/other_user}","gists_url":"https://api.github.com/users/daenny/gists{/gist_id}","starred_url":"https://api.github.com/users/daenny/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/daenny/subscriptions","organizations_url":"https://api.github.com/users/daenny/orgs","repos_url":"https://api.github.com/users/daenny/repos","events_url":"https://api.github.com/users/daenny/events{/privacy}","received_events_url":"https://api.github.com/users/daenny/received_events","type":"User","site_admin":false},"created_at":"2015-12-10T14:07:46Z","updated_at":"2015-12-10T14:07:46Z","body":"I had already answered previously in my first feature request to @slremy. \r\nWould it not make sense to wrap the pose subscriber as a service instead of a subscriber, then the lock would not be needed, right? \r\nWe would need to define a new \"teleport.srv\" or something then though.\r\nHowever, I do see the advantage of also having the message callback, as you can then configure rviz to teleport the robots, by sending \"navigation\" goals, but then the message type would need to be a PoseStamped. \r\nMy last question is, if we want to allow \"collision moves\", i.e. teleporting the robot to \"non free\" space in the map, or out of map bounds. I do not know if that is easily accessable in the stage API. \r\n"}}