ros2-ify perception pipeline #700
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Ok, I'll just switch this PR to `rolling` and continue.In Since in Getting' Started section |
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This was referenced Jun 12, 2023
Octomap is not showing.In This doesn't seem published. pointcloud is published (from the rosbag file). So use it. These prints expected values though. Found a set of params that look suspecious. With yaml: Result on param server: Maybe I should know how a code gets these params. UPDATE: All examples of ros2 parameter .yaml files I've seen so far use:But in my case, I tried this but no good? Resulted in: With yaml: Result on param server: Maybe I should know how a code gets these params. Also noticed: Found someone already ported moveit_tutorial to ros2 answers.ros.org#389233/moveit2-add-pointcloud2-to-occupancymapmonitor/. Swapping sensor config to sensor_3d.yaml, Hm, now this.Beginning of failure seems these: Pkg does exist and is reachable by ros2: For some reasons googling by So questions:
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As ticketed #708, I found changes that are merged into moveit1's tutorial but not to moveit2's. Not sure if a culprit of the issue I'm seeing (i.e. no octomap shown) but I will test those as well. |
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Okay so I tried this out in my humble workspace. I was indeed able to visualize the point cloud, and even plan around the obstacles it inserts, but this was not entirely straightforward. I had to make a couple of tweaks (ex: remove world->panda_link0 static tf from launch xml because its already published, and run the rosbag play separately after starting up everything else otherwise rviz would just crash). My biggest concern is the following messages : which goes up to handle 11. We can see it comes from here and here, but I am not sure what exactly this complains about. Missing TF for robot links? I can see in TF that robot frames are well published. I increased the @130s Any thoughts? |
Removing dep on panda_moveit_config and franka_description (instead, continue to depend on moveit_resources_panda pkgs)
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…e (unverified) decision moveit#704 (comment)) Signed-off-by: Isaac Saito <[email protected]>
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…ent) Signed-off-by: Isaac Saito <[email protected]>
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…address in PR moveit#700 (comment)) Signed-off-by: Isaac Saito <[email protected]>
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Reminder to revert the changes in this line and 2 lines below, once moveit/moveit_resources#181 is merged.
…ent) Signed-off-by: Isaac Saito <[email protected]> Remove unnecessary functionality (moveit#700 (comment)) Signed-off-by: Isaac Saito <[email protected]>
…address in PR moveit#700 (comment)) Signed-off-by: Isaac Saito <[email protected]>
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Thanks for the review and testing! @Tejas-Shastha
Ok...Not sure why it fails on your env, but I removed that static publisher.
I'm unsure what's going on. If you can spot particular error output, would you mind posting (Can that look similar to moveit/moveit_resources#170?)?
Hm, no idea yet. |
I think the entity responsible for publishing this TF changes somewhere between all the configs. I would keep whatever works for the instructions of the tutorial (I did not test the tutorial environment, rather a custom environment of my own, so I am not sure what is correct either). Apologies if this created too much confusion! I also found out that the error I mentioned above: is caused by TF issues. I guess that since the bag contains only 1 msg and it is being relaunched at a pretty high rate, it messes up TF? I recorded my own bag and tried it and got the same results. However, on a real robot with a live feed from an Intel realsense D435, I did not have this issue at all (except once when the camera dropped some frames I think, which is what led me to conclude this is a TF issue). So, as you suggested, maybe it is sufficient to declare this phenomenon as a warning and move on? A separate issue can be raised to investigate this better. Overall, I tested the configuration suggestions you made with a real Panda FER1 and it works very well! (Again, my environment is somewhat different from what is prescribed in the tutorial). I think this PR adds sufficient value that it can be merged, I'm sure it would help many moveit users! P.S. : I am apparently unable to change my review from "Changes requested" for some reason. Please consider this as approved. |
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closes #708 |
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@henningkayser Could you please review or push for a review of this PR? |
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Closing as the similar work (that started after this PR) got merged and addressed the same issue #25. See more in #906 (comment) |
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Issue aimed at
Description of changes
git cherry-pickthose changes, but some PRs included changes outside of perception tutorial, which is not my scope of this PR, so I gave up and went ahead manually applying changes.Checklist
panda_moveit_configormoveit_resources_panda_moveit_config? Unclear the direction and rationale #704panda_moveit_configormoveit_resources_panda_moveit_config? Unclear the direction and rationale #704 (comment)moveit_resources?Peek.2023-06-28.14-37.webm