Peter David Fagan

> Sure, manually converting data between C++ and python is faster than serialization/deserialization. However, as far as I see, you make frequent use of serializeMsg/deserializeMsg and don't yet use type_caster....

Hey @rhaschke👋, I just got the custom typecaster using the ROS2 equivalents of the libraries you used to work 🎉. I will simplify all methods that explicitly serialize/deserialize messages tomorrow...

Apologies about this it was getting messy having to perform a rebase due to the arising conflicts with changes I had made locally. I was going to follow up with...

Thanks for this valuable feedback, I will address each of these improvement points.

> * Avoid defining (long) doc strings in definitions. This makes the wrapper code pretty much unreadable. (I followed the same approach in MTC, but don't like it.) > Rather,...

Thanks for applying the clang-tidy fixes. I will be working on this again in the afternoon so I will post updates as I resume working on this.

> You should try to minimize the wrapper code as much as possible. Usually, there is no need to write extra wrapper functions. You can directly def the existing class...

Thanks for the extended feedback, I will work to address these points. For the following point I raised this in the MoveIt standup recently. > PlanningComponent::set_goal() just dispatches a long...

+1 would be helpful to have this fixed.

Hi everyone, I see it has been a while since this thread was active but nonetheless I thought it may be worthwhile contributing to the discussion. I am working on...