CRTK interface message types

[kschwan]

A while ago I suggested changing the CRTK Cartesian position type from TransformStamped to PoseStamped (see collaborative-robotics/documentation#1). This change is now effective (see here). It makes it easy to visualize poses in RViz which I think is a nice debugging help.

Are we allowed to use a modified launch_crtk_interface.py? I could submit a pull request with the alternative CRTK interface if that helps.

[adnanmunawar]

I saw that discussion and I agree with your proposition. However, I am a little nervous about changing the message types this close to the challenge. Let me have an internal discussion on this and I shall get back to you :)

[kschwan]

OK, otherwise we'll manage just fine 🙂

I'd suggest just making a separate CRTK interface script as to not change the existing one if someone is using that.

[adnanmunawar]

Hi Kim, let's do it :D. Since you offered, can you please create a PR that changes the instances of geometry_msgs/TransformStamped to geometry_msgs/PoseStamped?

[kschwan]

Cool 😎
I can make a pull request tomorrow. Would you prefer a separate script or changing the one that's already there?

[adnanmunawar]

Let's change the scripts already there. Better to pull the plug on the old CRTK standard :)