[MSA] Workaround to launch files without controllers (#1275)

* Enable controller tab with warning * Warn the user instead of raising exception if controllers are not found * pre-commit fixes * Fix cartesian_limits.yaml values * Fix file_path Co-authored-by: Jafar <jafar.uruc@gmail.com> Co-authored-by: JafarAbdi <cafer.abdi@gmail.com> Co-authored-by: Jafar <jafar.uruc@gmail.com>
moveit · Jun 13, 2022 · 5fabe99 · 5fabe99
1 parent 803bb38
commit 5fabe99
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Showing 6 changed files with 25 additions and 11 deletions.
diff --git a/moveit_configs_utils/moveit_configs_utils/moveit_configs_builder.py b/moveit_configs_utils/moveit_configs_utils/moveit_configs_builder.py
@@ -286,9 +286,10 @@ def trajectory_execution(
             controller_pattern = re.compile("^(.*)_controllers.yaml$")
             possible_names = get_pattern_matches(config_folder, controller_pattern)
             if not possible_names:
-                raise RuntimeError(
-                    "trajectory_execution: `Parameter file_path is undefined "
-                    f"and no matches for {config_folder}/*_controllers.yaml"
+                # Warn the user instead of raising exception
+                logging.warning(
+                    "\x1b[33;20mtrajectory_execution: `Parameter file_path is undefined "
+                    f"and no matches for {config_folder}/*_controllers.yaml\x1b[0m"
                 )
             else:
                 chosen_name = None
@@ -313,7 +314,8 @@ def trajectory_execution(
         else:
             file_path = self._package_path / file_path
 
-        self.__moveit_configs.trajectory_execution.update(load_yaml(file_path))
+        if file_path:
+            self.__moveit_configs.trajectory_execution.update(load_yaml(file_path))
         return self
 
     def planning_scene_monitor(

diff --git a/moveit_setup_assistant/moveit_setup_assistant/src/setup_assistant_widget.cpp b/moveit_setup_assistant/moveit_setup_assistant/src/setup_assistant_widget.cpp
@@ -94,7 +94,7 @@ SetupAssistantWidget::SetupAssistantWidget(rviz_common::ros_integration::RosNode
   setup_steps.push_back("moveit_setup::srdf_setup::RobotPosesWidget");
   setup_steps.push_back("moveit_setup::srdf_setup::EndEffectorsWidget");
   setup_steps.push_back("moveit_setup::srdf_setup::PassiveJointsWidget");
-  // setup_steps.push_back("moveit_setup::controllers::ControllersWidget");
+  setup_steps.push_back("moveit_setup::controllers::ControllersWidget");
   // setup_steps.push_back("moveit_setup::simulation::SimulationWidget");
   setup_steps.push_back("moveit_setup::app::PerceptionWidget");
   setup_steps.push_back("moveit_setup::app::LaunchesWidget");

diff --git a/moveit_setup_assistant/moveit_setup_controllers/COLCON_IGNORE b/moveit_setup_assistant/moveit_setup_controllers/COLCON_IGNORE
diff --git a/moveit_setup_assistant/moveit_setup_controllers/src/controllers_widget.cpp b/moveit_setup_assistant/moveit_setup_controllers/src/controllers_widget.cpp
@@ -76,15 +76,24 @@ void ControllersWidget::onInit()
   this->setWindowTitle("Controller Configuration");  // title of window
 
   // Top Header Area ------------------------------------------------
-  auto header = new HeaderWidget(
-      "Setup Controllers",
-      "Configure controllers to be used by MoveIt's controller manager(s) to operate the robot's physical hardware",
-      this);
+  // TODO: Remove warning and revert to original header message once controllers are implemented
+  // https://github.com/ros-planning/moveit2/issues/1261
+  auto header =
+      new HeaderWidget("Setup Controllers",
+                       "<font color='red'>Configuring controllers to be used by MoveIt's controller manager(s) to "
+                       "operate the robot's physical hardware is not implemented yet! Please generate the files "
+                       "mentioned in <a href='https://github.com/ros-planning/moveit2/issues/1261'> "
+                       "https://github.com/ros-planning/moveit2/issues/1261</a> by hand if you want to work with "
+                       "trajectory execution!</font>",
+                       this);
   layout->addWidget(header);
 
   // Tree Box ----------------------------------------------------------------------
   controllers_tree_widget_ = createContentsWidget();
 
+  // TODO: Reneable contents widget once controllers are implemented
+  controllers_tree_widget_->setEnabled(false);
+
   // Joints edit widget
   joints_widget_ = new DoubleListWidget(this, "Joint Collection", "Joint");
   connect(joints_widget_, SIGNAL(cancelEditing()), this, SLOT(cancelEditing()));

diff --git a/moveit_setup_assistant/moveit_setup_framework/templates/config/cartesian_limits.yaml b/moveit_setup_assistant/moveit_setup_framework/templates/config/cartesian_limits.yaml
@@ -1,5 +1,5 @@
 cartesian_limits:
-  max_trans_vel: 1
+  max_trans_vel: 1.0
   max_trans_acc: 2.25
-  max_trans_dec: -5
+  max_trans_dec: -5.0
   max_rot_vel: 1.57
diff --git a/moveit_setup_assistant/moveit_setup_srdf_plugins/moveit_setup_framework_plugins.xml b/moveit_setup_assistant/moveit_setup_srdf_plugins/moveit_setup_framework_plugins.xml
@@ -8,6 +8,9 @@
   <class type="moveit_setup::srdf_setup::PlanningGroupsWidget" base_class_type="moveit_setup::SetupStepWidget">
     <description>Step to configure planning groups</description>
   </class>
+  <class type="moveit_setup::controllers::ControllersWidget" base_class_type="moveit_setup::SetupStepWidget">
+    <description>Step to configure robot controllers</description>
+  </class>
   <class type="moveit_setup::srdf_setup::RobotPosesWidget" base_class_type="moveit_setup::SetupStepWidget">
     <description>Step to configure robot poses</description>
   </class>