jazzy対応（MoveitConfigsBuilder） #78
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* MoveitCofigsBuilderを使ってmoveit_configの枠を作る * planning_plugins, requesr_adaptorsの設定をompl_planning.yamlの先頭で行う * ompl_planning.yamlにstart_state_max_bounds_errorの設定を追加 * 7/19ここまで * MoveitConfigsBuilderを使うに伴った、yamlファイルの指定の項目追加 * 一通りMoveItConfigsBuilderに対応 * MoveIt Setup Assistantを使って設定ファイルを生成 * urdfの指定を追加 * crane_plus_configのrun_move_group.launchを呼ぶ * Unable to parse SRDFのエラーが解決できない * demo.launchが起動できるようになった * 余計なコメントアウト部分削除 * 余計なコメントアウト削除 * rviz上でMottionPlanningができるようになった * 余計なコメントアウト削除
Kuwamai
requested changes
Aug 14, 2024
|
CIに関してはSciurus17と同様に、こちらのenv内のhumbleをjazzyに変更お願いします |
Kuwamai
requested changes
Sep 13, 2024
mizonon
commented
Oct 4, 2024
mizonon
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Planning時にタイムアウトエラーが多いように思いました。 |
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@mizonon ご対応ありがとうございます。Sciurus17のほうで生じていたGazeboの不具合なのですが、CRANE+ V2では関係なさそうでしたので引き続き対応お願いします。 |
|
Gazebo Harmonicへの対応を行いましたので、追加レビューをお願いいたします。 |
* カメラ追加 * use_sim_timeオプション追加 * カメラの画角調整 * 色検出サンプルの色しきい値調整 * 把持位置調整 * 現バージョンのデフォルト設定を反映 * ArUcoマーカ付きの立方体を追加 * ワールド、launchファイル追加 * use_cameraの有効化 * use_cameraを引数で切り替えられるように変更 * カメラスタンドのURDF修正
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以下の2点について対応しました
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Kuwamai
requested changes
Dec 11, 2024
Comment on lines
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to
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| move_group = IncludeLaunchDescription( | ||
| PythonLaunchDescriptionSource([ | ||
| get_package_share_directory('crane_plus_moveit_config'), | ||
| '/launch/run_move_group.launch.py']), | ||
| condition=UnlessCondition(LaunchConfiguration('use_camera')), | ||
| launch_arguments={'loaded_description': description}.items() | ||
| ) | ||
|
|
||
| rviz_config_file = get_package_share_directory( | ||
| 'crane_plus_examples') + '/launch/camera_example.rviz' | ||
| move_group_camera = IncludeLaunchDescription( | ||
| PythonLaunchDescriptionSource([ | ||
| get_package_share_directory('crane_plus_moveit_config'), | ||
| '/launch/run_move_group.launch.py']), | ||
| condition=IfCondition(LaunchConfiguration('use_camera')), | ||
| launch_arguments={ | ||
| 'loaded_description': description, | ||
| 'rviz_config_file': rviz_config_file | ||
| }.items() | ||
| ) |
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こちらもdemo.launch.pyと同じ方式で切り替えられるといいかと思います。
Kuwamai
requested changes
Dec 12, 2024
Comment on lines
51
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| rviz_config_moveit = get_package_share_directory( | ||
| 'crane_plus_moveit_config' | ||
| ) + '/config/moveit.rviz' | ||
| rviz_config_camera = get_package_share_directory( | ||
| 'crane_plus_examples' | ||
| ) + '/launch/camera_example.rviz' | ||
|
|
||
| move_group = IncludeLaunchDescription( | ||
| PythonLaunchDescriptionSource([ | ||
| get_package_share_directory('crane_plus_moveit_config'), | ||
| '/launch/run_move_group.launch.py']), | ||
| condition=UnlessCondition(LaunchConfiguration('use_camera')), | ||
| launch_arguments={ | ||
| 'loaded_description': description | ||
| 'loaded_description': description, | ||
| 'rviz_config': rviz_config_moveit | ||
| }.items() | ||
| ) |
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demo.launch.pyの上部にこちらを追加
declare_rviz_config = DeclareLaunchArgument(
'rviz_config',
default_value=get_package_share_directory(
'crane_plus_moveit_config'
) + '/config/moveit.rviz',
description='Set the path to rviz configuration file.',
condition=UnlessCondition(LaunchConfiguration('use_camera')),
)
declare_rviz_config_camera = DeclareLaunchArgument(
'rviz_config',
default_value=get_package_share_directory(
'crane_plus_examples'
) + '/launch/camera_example.rviz',
description='Set the path to rviz configuration file.',
condition=IfCondition(LaunchConfiguration('use_camera')),
)
move_groupは下記のように変更
move_group = IncludeLaunchDescription(
PythonLaunchDescriptionSource([
get_package_share_directory('crane_plus_moveit_config'),
'/launch/run_move_group.launch.py']),
launch_arguments={
'loaded_description': description,
'rviz_config': LaunchConfiguration('rviz_config')
}.items()
)
There was a problem hiding this comment.
ありがとうございます！
ご提案いただいた通りに修正したところ、rviz_configが切替えができました
Comment on lines
80
to
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| rviz_entities = generate_moveit_rviz_launch(moveit_config).entities | ||
| for entity in rviz_entities: | ||
| if isinstance(entity, Node): | ||
| entity.cmd.extend(['--ros-args', '--params-file', rviz_config]) | ||
| ld.add_entity(entity) | ||
|
|
There was a problem hiding this comment.
rviz_entitiesを削除してld.add_entity(generate_moveit_rviz_launch(moveit_config))のみ使用
rviz_entities = generate_moveit_rviz_launch(moveit_config).entities
for entity in rviz_entities:
if isinstance(entity, Node):
entity.cmd.extend(['--ros-args', '--params-file', rviz_config])
ld.add_entity(entity)
There was a problem hiding this comment.
ありがとうございます！
ご提案いただいた通りに修正したところ、rviz_configが切替えられました
|
コンフリクト解消の対応を行いました。 |
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What does this implement/fix?
MoveitConfigsBuilderについてのJazzy対応です。
Does this close any currently open issues?
How has this been tested?
crane_prus_exampleのdemo.launchとサンプルプログラムを使って、humble環境と同じように動作するか確認しました。
Any other comments?
誤ってhumble_develブランチから本作業ブランチを切っていたため、改めてmasterブランチから作業ブランチを作成し、複数あったコミットを一つに集約した上でこちらのブランチにコピーし、PR作成しております。
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