Fix the resource_retriever usage.#299
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MaximilienNaveau wants to merge 3 commits intoagimus-project:humble-develfrom
Open
Fix the resource_retriever usage.#299MaximilienNaveau wants to merge 3 commits intoagimus-project:humble-develfrom
MaximilienNaveau wants to merge 3 commits intoagimus-project:humble-develfrom
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Pull request overview
This PR fixes the resource_retriever usage and improves ROS bag storage format detection for TIAGo-Pro demos.
Changes:
- Updated resource_retriever import to use full module name instead of alias
- Added automatic detection of ROS bag storage format (mcap vs sqlite3)
- Moved robot description wait logging from individual callbacks to a centralized location
- Enhanced error messages with more context
Reviewed changes
Copilot reviewed 5 out of 5 changed files in this pull request and generated 1 comment.
Show a summary per file
| File | Description |
|---|---|
| agimus_controller_ros/agimus_controller_ros/read_from_bag_trajectory.py | Added automatic bag storage format detection and reorganized imports |
| agimus_controller_ros/agimus_controller_ros/mpc_debugger_node.py | Added resource_retriever import and usage for YAML file loading |
| agimus_controller_ros/agimus_controller_ros/agimus_controller.py | Changed resource_retriever alias to full name and moved robot ready logging |
| agimus_controller/agimus_controller/ocp/ocp_croco_generic.py | Enhanced assertion message with diagnostic information |
| agimus_controller/agimus_controller/factory/robot_model.py | Added debug print statement for robot attachment |
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MaximeSabbah
approved these changes
Jan 13, 2026
Kotochleb
reviewed
Jan 13, 2026
| ) | ||
| obj.reference = pt.point.end_effector_velocities[self.frame_id] | ||
| return pt.weights.w_end_effector_poses[self.frame_id] | ||
| return pt.weights.w_end_effector_velocities[self.frame_id] |
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@Kotochleb can you confirm that this is a bug fix or if this is a bug I just introduced.
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Important for the TIAGo-Pro demos.