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Restored compatibility with Orocos KDL after Joint.None was removed #45

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sloretz merged 1 commit into from
Sep 18, 2020
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Restored compatibility with Orocos KDL after Joint.None was removed #45

sloretz merged 1 commit into from
Sep 18, 2020
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@fjulian
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@fjulian fjulian commented Sep 9, 2020

orocos/orocos_kinematics_dynamics@d518c8b removed attribute PyKDL.Joint.None. With this PR, compatibility is ensured, preferring PyKDL.Joint.Fixed and only falling back to PyKDL.Joint.None if the former is no attribute of PyKDL.Joint. See discussion in #44.

clalancette
clalancette approved these changes Sep 9, 2020
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Looks good to me, thanks for picking this up. I'm going to approve, but since I had a hand in developing it, I'd rather get a second review before merging.

@sloretz Could you take a look when you get a chance?

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sloretz commented Sep 18, 2020

Thanks for the PR! LGTM and the PR job passed, so I'll merge this.

@fjulian since you're building from source, does that mean it's ok if this isn't released right away?

@sloretz sloretz merged commit a1ba6df into ros:noetic-devel Sep 18, 2020
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clalancette commented Sep 18, 2020

Thanks for the PR! LGTM and the PR job passed, so I'll merge this.

Thanks, appreciated. I'd say that we also need to port this to ROS 2, but it turns out we haven't ported kdl_parser_py to ROS 2 at all. It actually looks like an easy port, except for the tests, but that's a task for another day. I'll at least open an issue about that.

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fjulian commented Sep 18, 2020

Thanks for merging!

does that mean it's ok if this isn't released right away?

Yes of course, it can wait from my side.

fjulian added a commit to fjulian/kdl_parser that referenced this pull request Jan 8, 2021
@fjulian
Compatibility with Orocos KDL after Joint.None was removed
94006ce 
See ros#45
Ch3ri0ur added a commit to Ch3ri0ur/panda_robot that referenced this pull request Sep 10, 2021
@Ch3ri0ur
Restored compatibility after Joint.None was removed.
5a8700b 
Similar to:
ros/kdl_parser#45
ros/kdl_parser#44

When migrating to 20.04/Noetic/Python3 I ran into the same `AttributeError: type object 'PyKDL.Joint' has no attribute 'None'` error.  

This is pretty much just a copy of their fix.
@Ch3ri0ur Ch3ri0ur mentioned this pull request Sep 10, 2021
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@clalancette clalancette clalancette approved these changes

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@fjulian @sloretz @clalancette