Add support for transforms in RecordReplay motion planner
Description
In the first implementation, the record/replay planner does not support transforms and hence assumes that the recording and replaying happen in the same frame.
Expected behavior
The RecordReplayPlanner should subscribe to a transform topic when recording as well as when replaying and make sure the appropriate transformations are applied (To be made more specific once I understand better how transforms are passed around and how different transforms relate when given in the recording versus in the replay process).
Definition of Done
-
Understand and document the problem of changing transforms -
Implement support for such changing transforms in the RecordReplayPlanner -
Add tests verifying the functionality is implemented properly.
Edited by Jit Ray Chowdhury