WIP: Connect Robot Modules #462
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This method allows to generate a new RobotModule by connecting two modules together.
for more information, see https://pre-commit.ci
Boost 1.74 has a bug in bfs::copy_path, use std::filesystem instead
The introduction of RobotModule::connect made it interesting to compose robot modules. In order to expose new modules that are composed of multiple other existing modules, it is necessary to allow loading other robot modules while creating a new one. This effectively allows calling get_robot_module from within the create() function of a new robot module library. To do so we unlock the mutex just before the actual call to create(). This may have unintended side effects.
for more information, see https://pre-commit.ci
jointConfig for a free joint is a 0-matrix, thus the transform is a zero matrix. This messes up the root joint's inertia and such.
For now we do not generate a connected robot module using the real urdf paths, we probably should. To support display as-is in ROS, we use the control urdf as real urdf.
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I'll split this PR in two soon:
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This allows to define collisions and ignore them if the convex files are missing. Useful for quick multi-robot FSM setups.
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This PR is a rebased from Pierre's work on connecting robot modules together.