Add info messages to pick and place routine #1004
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The current behavior silently adds an arbitrary wait time to the pipeline. Users should define an appropriate wait time for their own gripper. This message helps them find the issue, which is otherwise not trivial to debug.
felixvd
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Jul 30, 2018
The [video in the Pick and Place tutorial](http://docs.ros.org/kinetic/api/moveit_tutorials/html/doc/pick_place/pick_place_tutorial.html) is 45 seconds long. For 28 of those 45 seconds, the robot is standing still. This is because a default wait time of 7 seconds is added after every opening and closing of the gripper. This change fixes that time to 0.5 s and makes the movement look smooth. I also propose notifying the user about this behavior in [this PR](moveit/moveit#1004).
mlautman
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Jul 30, 2018
davetcoleman
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Jul 31, 2018
davetcoleman
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Jul 31, 2018
* Add debug messages to pick and place routine The current behavior silently adds an arbitrary wait time to the pipeline. Users should define an appropriate wait time for their own gripper. This message helps them find the issue, which is otherwise not trivial to debug. * Apply clang-format * Fix auto-formatting
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cherry picked to melodic |
mlautman
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Aug 6, 2018
The [video in the Pick and Place tutorial](http://docs.ros.org/kinetic/api/moveit_tutorials/html/doc/pick_place/pick_place_tutorial.html) is 45 seconds long. For 28 of those 45 seconds, the robot is standing still. This is because a default wait time of 7 seconds is added after every opening and closing of the gripper. This change fixes that time to 0.5 s and makes the movement look smooth. I also propose notifying the user about this behavior in [this PR](moveit/moveit#1004).
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Thanks @felixvd ! |
mayman99
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Aug 25, 2018
* Add debug messages to pick and place routine The current behavior silently adds an arbitrary wait time to the pipeline. Users should define an appropriate wait time for their own gripper. This message helps them find the issue, which is otherwise not trivial to debug. * Apply clang-format * Fix auto-formatting
pull bot
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Sep 3, 2020
* Add debug messages to pick and place routine The current behavior silently adds an arbitrary wait time to the pipeline. Users should define an appropriate wait time for their own gripper. This message helps them find the issue, which is otherwise not trivial to debug. * Apply clang-format * Fix auto-formatting
cohen39
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Oct 26, 2021
The [video in the Pick and Place tutorial](http://docs.ros.org/kinetic/api/moveit_tutorials/html/doc/pick_place/pick_place_tutorial.html) is 45 seconds long. For 28 of those 45 seconds, the robot is standing still. This is because a default wait time of 7 seconds is added after every opening and closing of the gripper. This change fixes that time to 0.5 s and makes the movement look smooth. I also propose notifying the user about this behavior in [this PR](moveit/moveit#1004).
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Description
The current pick and place pipeline silently assigns a default duration of an arbitrary (and long) 7 seconds to each action of the gripper. This PR adds a message alerting the user to this behavior, and prompts them to define an appropriate wait time for their own gripper. This helps them identify a problem which is otherwise not trivial to debug, due to the structure of the planning stages. Case in point: it was an issue in the official pick and place tutorial.
I suppose this should have been a PR on melodic-devel and cherry-picked to Kinetic. Let me know if anything needs changing.
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