Pr update welding demo #46
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In commit 397fc070ea87594c0fc9a01b1196dd65b3064a4d of the moveit_task_constructor repo, the `fillMessage` method of the SolutionBase class was renamed to `appendTo`. This commit applies that renaming to the demo code.
Update `ur_robot` macro params Remove "robot_platform_joint" as the updated `ur_robot` macro takes care of connecting the robot to the provided parent link now. Use `xacro.load_yaml` instead of deprecated `load_yaml` function NOTE: these changes are required if the demo is run with an updated version of the ur_description package that provides the `ur_robot` macro
Also add to dependencies in package.xml
spawner.py -> spawner
Otherwise these topics by default are set to "<undefined>" which causes an error when the local planner node attempts to subscribe to them as topic names are not allowed to have the '<' or '>' character in them.
The old ur_controllers/ForceTorqueStateBroadcaster controller does not exist anymore. The updated one to use is from the force_torque_sensor_broadcaster package
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Update pre-commit config and fix formatting/spelling throughout repo Update github formatting workflow
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CI is failing here because the warehouse_ros_mongo package has a dependency on the mongodb package, which is not available in Ubuntu Jammy Discussion: moveit/warehouse_ros_mongo#75 (comment) |
The warehouse_ros_mongo package cannot be used on Ubuntu Jammy. It depends on mongodb which has no released version on Jammy. So comment out all portions of the welding demo that reference it.
Remove extra spaces in yaml files to get CI passing
Sending the TF buffer argument in the constructor of a PlanningSceneMonitor object is deprecated.
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sjahr
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Jan 4, 2024
upstream.repos
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| @@ -14,8 +14,8 @@ repositories: | |||
| version: ros2 | |||
| ur_msgs: | |||
| type: git | |||
| url: https://github.com/destogl/ur_msgs.git | |||
| version: ros2 | |||
| url: https://github.com/ros-industrial/ur_msgs.git | |||
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Works for me although I think we can remove a bunch of these dependencies. I only needed to build from source:
moveit_task_constructor (humble)
moveit_visual_tools
rosparam_shortcuts
rviz_visual_tools
Maybe consider removing the rest to greatly simplify the whole install setup
moveit_servo is used in the ServoSolver c++ code so it is needed as a build time dependency as well.
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Get the welding demo working with the latest humble branches of the moveit repos