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[baxtereus] add moveit in baxter-interface #716

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merged 1 commit into from Nov 10, 2016

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commented Nov 9, 2016

@knorth55 knorth55 changed the title [WIP][baxtereus] add moveit in baxter-interface [baxtereus] add moveit in baxter-interface Nov 9, 2016

@knorth55 knorth55 referenced this pull request Nov 9, 2016

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use moveit! for baxter #1936

5 of 5 tasks complete
@@ -9,9 +9,9 @@
(defvar *wait-for-suction* 5000000)

(defclass baxter-interface
:super robot-interface
:super robot-move-base-interface

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k-okada Nov 10, 2016

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you do not have to use move-base-interface, that is for mobile robot

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knorth55 Nov 10, 2016

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thank you

@knorth55 knorth55 force-pushed the knorth55:baxter-moveit branch from 327d3de to 70f3f24 Nov 10, 2016

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commented Nov 10, 2016

fixed

@k-okada k-okada merged commit d170305 into jsk-ros-pkg:master Nov 10, 2016

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@knorth55 knorth55 deleted the knorth55:baxter-moveit branch Nov 10, 2016

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commented Nov 11, 2016

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commented Nov 11, 2016

i read fetcheus and it does as below.

overriding :angle-vector-motion-plan -> angle-vector,
and renaming
angle-vector -> angle-vector-raw
angle-vector-sequence -> angle-vector-sequence-raw

i thought we need to be very careful to do so because exisiting programs may not work.
but, in future, angle-vector-motion-plan should be mainstream and angle-vector-raw be an option.
Therefore, i want to override the method.
@pazeshun what do you think?

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commented Nov 11, 2016

@knorth55
I agree with you. If we don't override, our followers may be confused.

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commented Nov 11, 2016

Overriding methods #721

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commented Nov 13, 2016

instead of changing code like

-  (send *ri* :angle-vector (send *baxter* :angle-vector) 10000)
 +  (send *ri* :angle-vector-raw (send *baxter* :angle-vector) 10000)

I think we should set default to nil for moveit feature and change
:angle-vector methods like

(:angle-vector (...)
  ;; for simulation mode   use :anlge-vector-raw
  (when (send self : simulation-modep)
   (return-from :angle-vector (send self :angle-vector-raw ...)))
 ;; when moveit is NOT enabeld, use :anlge-vector-raw
 (when (null (send self :set-moveit-environment)) ;; this just returns
moveit-evniroment
   (return-from :angle-vector (send self :angle-vector-raw ...)))

◉ Kei Okada

2016-11-11 21:55 GMT+09:00 Shingo Kitagawa notifications@github.com:

Overriding methods #721
#721


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commented Nov 13, 2016

+1 to @k-okada

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