Add motion planning pipeline tutorial #80
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| target_include_directories(motion_planning_pipeline_tutorial | ||
| PUBLIC include) |
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Should it be like this?
| target_include_directories(motion_planning_pipeline_tutorial | |
| PUBLIC include) | |
| target_include_directories(motion_planning_pipeline_tutorial | |
| PUBLIC "$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>" | |
| "$<INSTALL_INTERFACE:include>")) |
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Hey @cmelliott2 thanks for the review! I think these two points to the same include directory, but I'll have to check it out and let you know.
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| // Visualization | ||
| // ^^^^^^^^^^^^^ | ||
| // The package MoveItVisualTools provides many capabilities for visualizing objects, robots, | ||
| // and trajectories in RViz as well as debugging tools such as step-by-step introspection of a script. | ||
| namespace rvt = rviz_visual_tools; | ||
| moveit_visual_tools::MoveItVisualTools visual_tools("panda_link0"); | ||
| /* moveit_visual_tools::MoveItVisualTools visual_tools("panda_link0"); */ | ||
| rviz_visual_tools::RvizVisualTools visual_tools("panda_link0", "moveit_cpp_tutorial", node); |
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should be
rviz_visual_tools::RvizVisualTools visual_tools("panda_link0", "motion_planning_pipeline_tutorial", node);
and we need to subscribe to the markers in the rviz config.
This is the only message that RvizVisualTools prints. Would you mind adding some more for each robot move?
| res.getMessage(response); | ||
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| display_trajectory.trajectory_start = response.trajectory_start; | ||
| display_trajectory.trajectory.push_back(response.trajectory); | ||
| display_publisher.publish(display_trajectory); | ||
| visual_tools.publishTrajectoryLine(display_trajectory.trajectory.back(), joint_model_group); | ||
| display_publisher->publish(display_trajectory); |
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Should we remove this publisher? My guess is that the planning_pipeline and this are both displaying the result which causes it to be displayed twice.
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This pull request is in conflict. Could you fix it @vatanaksoytezer? |
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@vatanaksoytezer this PR is over a year old, is it still relevant? |
Yeah it should actually, we just need to change it to use moveit_visual_tools and restructure according to new tutorials file structure |
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Can that get prioritized in the next MoveIt sprint somehow? |
I'll take a look, since now we are clear on Humble release. |
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This pull request is in conflict. Could you fix it @vatanaksoytezer? |
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This pull request is in conflict. Could you fix it @vatanaksoytezer? |
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This pull request is in conflict. Could you fix it @vatanaksoytezer? |
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This pull request is in conflict. Could you fix it @vatanaksoytezer? |
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This pull request is in conflict. Could you fix it @vatanaksoytezer? |
Depends on moveit/moveit_resources#64