{"action":"created","issue":{"url":"https://api.github.com/repos/robotology/yarp/issues/763","repository_url":"https://api.github.com/repos/robotology/yarp","labels_url":"https://api.github.com/repos/robotology/yarp/issues/763/labels{/name}","comments_url":"https://api.github.com/repos/robotology/yarp/issues/763/comments","events_url":"https://api.github.com/repos/robotology/yarp/issues/763/events","html_url":"https://github.com/robotology/yarp/pull/763","id":155921664,"number":763,"title":"Fix cbw2 ros topic","user":{"login":"barbalberto","id":4061020,"avatar_url":"https://avatars.githubusercontent.com/u/4061020?v=3","gravatar_id":"","url":"https://api.github.com/users/barbalberto","html_url":"https://github.com/barbalberto","followers_url":"https://api.github.com/users/barbalberto/followers","following_url":"https://api.github.com/users/barbalberto/following{/other_user}","gists_url":"https://api.github.com/users/barbalberto/gists{/gist_id}","starred_url":"https://api.github.com/users/barbalberto/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/barbalberto/subscriptions","organizations_url":"https://api.github.com/users/barbalberto/orgs","repos_url":"https://api.github.com/users/barbalberto/repos","events_url":"https://api.github.com/users/barbalberto/events{/privacy}","received_events_url":"https://api.github.com/users/barbalberto/received_events","type":"User","site_admin":false},"labels":[{"url":"https://api.github.com/repos/robotology/yarp/labels/Status:%20In%20Progress","name":"Status: In Progress","color":"ededed"}],"state":"open","locked":false,"assignee":null,"milestone":null,"comments":2,"created_at":"2016-05-20T09:25:06Z","updated_at":"2016-05-20T12:15:53Z","closed_at":null,"pull_request":{"url":"https://api.github.com/repos/robotology/yarp/pulls/763","html_url":"https://github.com/robotology/yarp/pull/763","diff_url":"https://github.com/robotology/yarp/pull/763.diff","patch_url":"https://github.com/robotology/yarp/pull/763.patch"},"body":"Fix errors on ROS topic message, in particular:\r\n\r\n- measurement unit for linear joints: They were converted into radiants by mistake. Fixed\r\n- timeStamps fot joint message: now uses time from getEncoderTime. This fixes issue on ROS TF while using Gazebo simulator. In this case both YARP & ROS clock plugin have to be instantiated.\n<a href='#crh-start'></a><a href='#crh-data-%7B%22approved%22%3A%20%7B%22https%3A//github.com/drdanz%22%3A%20%7B%22avatar_url%22%3A%20%22https%3A//avatars.githubusercontent.com/u/1100056%3Fv%3D3%22%7D%7D%2C%20%22comments%22%3A%20%7B%22General%20Comment%22%3A%20%7B%22html_url%22%3A%20%22https%3A//github.com/robotology/yarp/pull/763%23issuecomment-220590054%22%2C%20%22comments%22%3A%20%5B%7B%22body%22%3A%20%22%3Ashipit%3A%22%2C%20%22created_at%22%3A%20%222016-05-20T12%3A14%3A51Z%22%2C%20%22user%22%3A%20%7B%22avatar_url%22%3A%20%22https%3A//avatars.githubusercontent.com/u/1100056%3Fv%3D3%22%2C%20%22html_url%22%3A%20%22https%3A//github.com/drdanz%22%7D%7D%5D%2C%20%22title%22%3A%20%22General%20Comment%22%7D%2C%20%22Pull%2071cdc7e2d6101cc52c66651e855244606ffcc47e%20src/libYARP_dev/src/modules/ControlBoardWrapper/ControlBoardWrapper.h%204%22%3A%20%7B%22html_url%22%3A%20%22https%3A//github.com/robotology/yarp/pull/763%23discussion_r64029065%22%2C%20%22comments%22%3A%20%5B%7B%22body%22%3A%20%22This%20is%20another%20change%20in%20the%20ABI%20that%20could%20be%20avoided%20if%20we%20were%20using%20pimpl%20here.%5Cr%5CnI%20suggest%20that%20later%20we%20move%20all%20the%20private%20part%20of%20this%20class%20into%20an%20opaque%20pointer%20%28in%20%60devel%60%29.%22%2C%20%22created_at%22%3A%20%222016-05-20T11%3A48%3A50Z%22%2C%20%22user%22%3A%20%7B%22avatar_url%22%3A%20%22https%3A//avatars.githubusercontent.com/u/1100056%3Fv%3D3%22%2C%20%22html_url%22%3A%20%22https%3A//github.com/drdanz%22%7D%7D%5D%2C%20%22title%22%3A%20%22File%3A%20src/libYARP_dev/src/modules/ControlBoardWrapper/ControlBoardWrapper.h%3AL327-334%22%7D%2C%20%22Pull%2071cdc7e2d6101cc52c66651e855244606ffcc47e%20src/libYARP_dev/src/modules/ControlBoardWrapper/ControlBoardWrapper.h%2012%22%3A%20%7B%22html_url%22%3A%20%22https%3A//github.com/robotology/yarp/pull/763%23discussion_r64028781%22%2C%20%22comments%22%3A%20%5B%7B%22body%22%3A%20%22Adding%20a%20method%20to%20a%20class%20or%20changes%20the%20ABI%2C%20therefore%20according%20to%20the%20new%20workflow%2C%20this%20should%20not%20be%20done%20on%20the%20%60master%60%20branch.%5Cr%5CnAs%20discussed%20with%20%40barbalberto%2C%20next%20version%20of%20the%20patch%20will%20fix%20this%20issue%20without%20changing%20the%20ABI%2C%20and%20this%20patch%20will%20be%20applied%20on%20devel%20later%2C%20after%20this%20pr%20is%20merged.%22%2C%20%22created_at%22%3A%20%222016-05-20T11%3A47%3A16Z%22%2C%20%22user%22%3A%20%7B%22avatar_url%22%3A%20%22https%3A//avatars.githubusercontent.com/u/1100056%3Fv%3D3%22%2C%20%22html_url%22%3A%20%22https%3A//github.com/drdanz%22%7D%7D%5D%2C%20%22title%22%3A%20%22File%3A%20src/libYARP_dev/src/modules/ControlBoardWrapper/ControlBoardWrapper.h%3AL348-356%22%7D%7D%2C%20%22processed%22%3A%20%5B%22https%3A//github.com/robotology/yarp/pull/763%23issuecomment-220590054%22%2C%20%22https%3A//github.com/robotology/yarp/pull/763%23discussion_r64028781%22%2C%20%22https%3A//github.com/robotology/yarp/pull/763%23discussion_r64029065%22%5D%7D'></a>\n<a href='https://www.codereviewhub.com/'><img src='http://www.codereviewhub.com/site/github-bar.png' height=40></a>\n\n<img src='http://www.codereviewhub.com/site/github-approved-avatar.png'><a href='https://github.com/drdanz'><img src='https://avatars.githubusercontent.com/u/1100056?v=3' width=34 height=34></a>\n\n- [ ] <a href='#crh-comment-Pull 71cdc7e2d6101cc52c66651e855244606ffcc47e src/libYARP_dev/src/modules/ControlBoardWrapper/ControlBoardWrapper.h 12'></a> <img src='http://www.codereviewhub.com/site/github-remaining.png' height=16 width=60>&nbsp;<b><a href='https://github.com/robotology/yarp/pull/763#discussion_r64028781'>File: src/libYARP_dev/src/modules/ControlBoardWrapper/ControlBoardWrapper.h:L348-356</a></b>\n- <a href='https://github.com/drdanz'><img border=0 src='https://avatars.githubusercontent.com/u/1100056?v=3' height=16 width=16'></a> Adding a method to a class or changes the ABI, therefore according to the new workflow, this should not be done on the `master` branch.\nAs discussed with @barbalberto, next version of the patch will fix this issue without changing the ABI, and this patch will be applied on devel later, after this pr is merged.\n- [ ] <a href='#crh-comment-Pull 71cdc7e2d6101cc52c66651e855244606ffcc47e src/libYARP_dev/src/modules/ControlBoardWrapper/ControlBoardWrapper.h 4'></a> <img src='http://www.codereviewhub.com/site/github-remaining.png' height=16 width=60>&nbsp;<b><a href='https://github.com/robotology/yarp/pull/763#discussion_r64029065'>File: src/libYARP_dev/src/modules/ControlBoardWrapper/ControlBoardWrapper.h:L327-334</a></b>\n- <a href='https://github.com/drdanz'><img border=0 src='https://avatars.githubusercontent.com/u/1100056?v=3' height=16 width=16'></a> This is another change in the ABI that could be avoided if we were using pimpl here.\nI suggest that later we move all the private part of this class into an opaque pointer (in `devel`).\n\n\n<a href='https://www.codereviewhub.com/robotology/yarp/pull/763?mark_as_completed=1'><img src='http://www.codereviewhub.com/site/github-mark-as-completed.png' height=26></a>&nbsp;<a href='https://www.codereviewhub.com/robotology/yarp/pull/763?approve=1'><img src='http://www.codereviewhub.com/site/github-approve.png' height=26></a>&nbsp;<a href='https://www.codereviewhub.com/robotology/yarp/pull/763?approve=0'><img src='http://www.codereviewhub.com/site/github-undo-approve.png' height=26></a>&nbsp;<a href='https://github.com/robotology/yarp/pull/763'><img src='http://www.codereviewhub.com/site/github-refresh.png' height=26></a>\n<a href='#crh-end'></a>"},"comment":{"url":"https://api.github.com/repos/robotology/yarp/issues/comments/220590236","html_url":"https://github.com/robotology/yarp/pull/763#issuecomment-220590236","issue_url":"https://api.github.com/repos/robotology/yarp/issues/763","id":220590236,"user":{"login":"barbalberto","id":4061020,"avatar_url":"https://avatars.githubusercontent.com/u/4061020?v=3","gravatar_id":"","url":"https://api.github.com/users/barbalberto","html_url":"https://github.com/barbalberto","followers_url":"https://api.github.com/users/barbalberto/followers","following_url":"https://api.github.com/users/barbalberto/following{/other_user}","gists_url":"https://api.github.com/users/barbalberto/gists{/gist_id}","starred_url":"https://api.github.com/users/barbalberto/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/barbalberto/subscriptions","organizations_url":"https://api.github.com/users/barbalberto/orgs","repos_url":"https://api.github.com/users/barbalberto/repos","events_url":"https://api.github.com/users/barbalberto/events{/privacy}","received_events_url":"https://api.github.com/users/barbalberto/received_events","type":"User","site_admin":false},"created_at":"2016-05-20T12:15:53Z","updated_at":"2016-05-20T12:15:53Z","body":"Wait a bit to merge, probably I'll add one more fix ;-)"}}
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