sensor_origin ignored in maskContainment
peci1 opened this issue · comments
The shape_mask::maskContainment method has a sensor_origin (or, in the .h file, sensor_pos) argument which it never uses.
I also stumbled across this. The sensor origin was considered and used in c69aa54, but then that code got removed again in 7690c05 for reasons that are not clear to me. Maybe @isucan can comment on this? :)
I definitely saw things not working when using a world fixed frame as the planning frame. Once the robot moved away from the origin, suddenly everything got filtered. I "fixed" that by setting the max range to a ridiculously high number.