yes I looked at PoseTransformer... our code is something like
cartesian_pose = [0.470, 0.0, 0.450, math.radians(180), 0.0, math.radians(180)]
res = self.pose_transformer.calcCartToJointPose(cartesian_pose)
joint_coord = res.carttojointlist[0].jointpose.coordinates
wp = Waypoint(joint_coord)
motion_prog.addMoveJ([wp])
but gives me an error
[fjt_action_srv-1] Traceback (most recent call last):
[fjt_action_srv-1] File "/opt/ros/humble/local/lib/python3.10/dist-packages/rclpy/action/server.py", line 333, in _execute_goal
[fjt_action_srv-1] execute_result = await await_or_execute(execute_callback, goal_handle)
[fjt_action_srv-1] File "/opt/ros/humble/local/lib/python3.10/dist-packages/rclpy/executors.py", line 104, in await_or_execute
[fjt_action_srv-1] return await callback(*args)
[fjt_action_srv-1] File "/home/mattia/gabriele_test/ibt_ros2_driver/install/fjt_action_srv/lib/fjt_action_srv/fjt_action.py", line 286, in execute_callback
[fjt_action_srv-1] action_res : RobotStates = self.actual_mcx_move(goal_handle,self.instructions)
[fjt_action_srv-1] File "/home/mattia/gabriele_test/ibt_ros2_driver/install/fjt_action_srv/lib/fjt_action_srv/fjt_action.py", line 219, in actual_mcx_move
[fjt_action_srv-1] res = self.pose_transformer.calcCartToJointPose(cartesian_pose)
[fjt_action_srv-1] File "/home/mattia/gabriele_test/ibt_ros2_driver/install/fjt_action_srv/lib/fjt_action_srv/robot_control/motion_program.py", line 111, in calcCartToJointPose
[fjt_action_srv-1] return self.__req.send(self.__motorcortex_types.encode(cart_to_joint_list_req)).get()
[fjt_action_srv-1] File "/home/mattia/.local/lib/python3.10/site-packages/motorcortex/reply.py", line 32, in get
[fjt_action_srv-1] return self.__future.result(timeout_ms / 1000.0 if timeout_ms else None)
[fjt_action_srv-1] File "/usr/lib/python3.10/concurrent/futures/_base.py", line 458, in result
[fjt_action_srv-1] return self.__get_result()
[fjt_action_srv-1] File "/usr/lib/python3.10/concurrent/futures/_base.py", line 403, in __get_result
[fjt_action_srv-1] raise self._exception
[fjt_action_srv-1] File "/usr/lib/python3.10/concurrent/futures/thread.py", line 58, in run
[fjt_action_srv-1] result = self.fn(*self.args, **self.kwargs)
[fjt_action_srv-1] File "/home/mattia/.local/lib/python3.10/site-packages/motorcortex/request.py", line 491, in __send
[fjt_action_srv-1] return protobuf_types.decode(buffer)
[fjt_action_srv-1] File "/home/mattia/.local/lib/python3.10/site-packages/motorcortex/message_types.py", line 340, in decode
[fjt_action_srv-1] type_inst = self.__types_by_hash[hash]
[fjt_action_srv-1] KeyError: 342505296
I need to investigate deeper on this behavior but I think the exception is related in some way to the async invocation of the send() method inside 'PoseTransformer' class. So I will check the scope of my code and if there is a thread/concurrency issue.
Anyway this behaviour looks a little bit strange to me because the others methods of the same python module (executed in the same scope) are blocking, and to send the "Motion Program" I'm using directly send method followed by get() to block the thread.
So in a brief, I'm looking for a pose transform class with blocking methods
