TrajectoryMarker throws error

[Stefanos19]

TrajectoryMarker (

aikido/include/aikido/rviz/TrajectoryMarker.hpp

Line 39 in 4270781

TrajectoryMarker(

) throws an IsCompatible error:

aikido/src/statespace/dart/MetaSkeletonStateSpace.cpp

Line 268 in 4270781

bool MetaSkeletonStateSpace::isCompatible(

for the MetaSkeletonPtr

[brianhou]

Do you have a small code snippet that we can use to replicate this?

If it's working properly, that error is thrown when the TrajectoryMarker's skeleton doesn't match the skeleton corresponding to the trajectory's MetaSkeletonStateSpace. The only things that are checked are here:

aikido/src/statespace/dart/MetaSkeletonStateSpace.cpp

Line 213 in 4270781

bool MetaSkeletonStateSpace::Properties::operator==(

It would be super helpful for debugging to inspect which one is causing the compatibility check to fail.