MoveIt Setup Assistant - Merge the Feature branch #1254

DLu · 2022-05-16T18:54:08Z

Description

MSA!

Checklist

Required by CI: Code is auto formatted using clang-format
Extend the tutorials / documentation reference
Document API changes relevant to the user in the MIGRATION.md notes
Create tests, which fail without this PR reference
Include a screenshot if changing a GUI
While waiting for someone to review your request, please help review another open pull request to support the maintainers

mergify · 2022-05-16T18:54:40Z

This pull request is in conflict. Could you fix it @DLu?

codecov · 2022-05-16T20:09:51Z

Codecov Report

Merging #1254 (2ee96e6) into main (f4fc946) will increase coverage by 0.01%.
The diff coverage is n/a.

@@            Coverage Diff             @@
##             main    #1254      +/-   ##
==========================================
+ Coverage   61.56%   61.56%   +0.01%     
==========================================
  Files         274      274              
  Lines       24977    24977              
==========================================
+ Hits        15374    15375       +1     
+ Misses       9603     9602       -1

Impacted Files	Coverage Δ
...dl_kinematics_plugin/src/kdl_kinematics_plugin.cpp	`75.36% <0.00%> (-1.07%)`	⬇️
...nning_scene_monitor/src/planning_scene_monitor.cpp	`45.73% <0.00%> (+0.44%)`	⬆️

Continue to review full report at Codecov.

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henningkayser

This is much more than I had thought initially. Great work, everything looks really well structured and clean. This review is rather superficial, I still want to understand the architecture a little better with a second pass. Running the MSA and generating a config package worked without any issues for me. I just got stuck launching MoveGroup with it, primarily because moveit_configs_utils still seems to look for all capital yaml parameters here. With that fixed, I'm still running into some issues but will investigate them further before throwing them at you. For the remaining TODOs, it would be great if you could document them in one or multiple issues.

I assume that your are planning to preserve most of the commit history and don't want the branch to be squashed, right?
If yes, please squash some of the fix-up commits into bigger chunks, ideally the branch would not have much more than 10 commits or so. If you're fine with squashing, ignore this.

moveit_configs_utils/default_configs/stomp_planning.yaml

moveit_setup_assistant/README.md

moveit_setup_assistant/moveit_setup_app_plugins/src/perception_config.cpp

moveit_setup_assistant/moveit_setup_app_plugins/src/perception_widget.cpp

...it_setup_assistant/moveit_setup_srdf_plugins/include/moveit_setup_srdf_plugins/srdf_step.hpp

moveit_setup_assistant/moveit_setup_srdf_plugins/src/end_effectors_widget.cpp

henningkayser · 2022-05-17T09:58:03Z

moveit_setup_assistant/moveit_setup_srdf_plugins/src/group_meta_config.cpp

+  return true;
+}
+
+void GroupMetaConfig::collectVariables(std::vector<moveit_setup_framework::TemplateVariable>& variables)


This function doesn't look like it's of much use in a ROS 2 setting

I added a TODO

Can you point me to an example of a MoveIt config that uses additional kinematic parameters?

BioIK and TracIk use additional parameters, but they are not supported in MoveIt 2 yet

moveit_setup_assistant/moveit_setup_srdf_plugins/src/robot_poses_widget.cpp

moveit_setup_assistant/moveit_setup_srdf_plugins/src/robot_poses.cpp

DLu · 2022-05-19T16:43:39Z

TODO Issues:

DLu · 2022-05-23T02:36:00Z

Alright team, what do we need to get this baby merged?

vatanaksoytezer · 2022-05-23T10:39:15Z

I'm happy merging it as soon as we get 2 approvals. We should continue the TODO issues once this branch is merged imo. Humble release is today.

henningkayser · 2022-05-23T21:06:24Z

@DLu I'm running into some issues with generated configs. I just made a plain Panda config which went well without any issues. However, I can't launch anything without crashing. The move_group.launch.py results in this:

[DEBUG] [launch.launch_context]: emitting event synchronously: 'launch.events.IncludeLaunchDescription'
[INFO] [launch]: All log files can be found below /home/ubuntu/.ros/log/2022-05-23-20-55-24-040269-moveit2-rolling-151933
[INFO] [launch]: Default logging verbosity is set to DEBUG
[DEBUG] [launch]: processing event: '<launch.events.include_launch_description.IncludeLaunchDescription object at 0x7fedd5557400>'
[DEBUG] [launch]: processing event: '<launch.events.include_launch_description.IncludeLaunchDescription object at 0x7fedd5557400>' ✓ '<launch.event_handlers.on_include_launch_description.OnIncludeLaunchDescription object at 0x7fedd6021810>'
Executing <Task finished name='Task-2' coro=<LaunchService._process_one_event() done, defined at /opt/ros/rolling/lib/python3.10/site-packages/launch/launch_service.py:228> exception=InvalidLaunchFileError('py') created at /opt/ros/rolling/lib/python3.10/site-packages/launch/launch_service.py:318> took 0.107 seconds
[DEBUG] [launch]: An exception was raised in an async action/event
[DEBUG] [launch]: Traceback (most recent call last):
  File "/opt/ros/rolling/lib/python3.10/site-packages/launch/launch_description_sources/any_launch_file_utilities.py", line 54, in get_launch_description_from_any_launch_file
    return loader(launch_file_path)
  File "/opt/ros/rolling/lib/python3.10/site-packages/launch/launch_description_sources/python_launch_file_utilities.py", line 68, in get_launch_description_from_python_launch_file
    return getattr(launch_file_module, 'generate_launch_description')()
  File "/home/ubuntu/ws_ros2/install/new_panda/share/new_panda/launch/move_group.launch.py", line 6, in generate_launch_description
    moveit_config = MoveItConfigsBuilder("panda", package_name="new_panda").to_moveit_configs()
  File "/home/ubuntu/ws_ros2/install/moveit_configs_utils/lib/python3.10/site-packages/moveit_configs_utils/moveit_configs_builder.py", line 521, in to_moveit_configs
    self.trajectory_execution()
  File "/home/ubuntu/ws_ros2/install/moveit_configs_utils/lib/python3.10/site-packages/moveit_configs_utils/moveit_configs_builder.py", line 385, in trajectory_execution
    raise RuntimeError(
RuntimeError: trajectory_execution: `Parameter file_path is undefined and no matches for /home/ubuntu/ws_ros2/install/new_panda/share/new_panda/config/*_controllers.yaml

The above exception was the direct cause of the following exception:

Traceback (most recent call last):
  File "/opt/ros/rolling/lib/python3.10/site-packages/launch/launch_service.py", line 336, in run_async
    raise completed_tasks_exceptions[0]
  File "/opt/ros/rolling/lib/python3.10/site-packages/launch/launch_service.py", line 230, in _process_one_event
    await self.__process_event(next_event)
  File "/opt/ros/rolling/lib/python3.10/site-packages/launch/launch_service.py", line 250, in __process_event
    visit_all_entities_and_collect_futures(entity, self.__context))
  File "/opt/ros/rolling/lib/python3.10/site-packages/launch/utilities/visit_all_entities_and_collect_futures_impl.py", line 45, in visit_all_entities_and_collect_futures
    futures_to_return += visit_all_entities_and_collect_futures(sub_entity, context)
  File "/opt/ros/rolling/lib/python3.10/site-packages/launch/utilities/visit_all_entities_and_collect_futures_impl.py", line 45, in visit_all_entities_and_collect_futures
    futures_to_return += visit_all_entities_and_collect_futures(sub_entity, context)
  File "/opt/ros/rolling/lib/python3.10/site-packages/launch/utilities/visit_all_entities_and_collect_futures_impl.py", line 38, in visit_all_entities_and_collect_futures
    sub_entities = entity.visit(context)
  File "/opt/ros/rolling/lib/python3.10/site-packages/launch/action.py", line 108, in visit
    return self.execute(context)
  File "/opt/ros/rolling/lib/python3.10/site-packages/launch/actions/include_launch_description.py", line 148, in execute
    launch_description = self.__launch_description_source.get_launch_description(context)
  File "/opt/ros/rolling/lib/python3.10/site-packages/launch/launch_description_source.py", line 84, in get_launch_description
    self._get_launch_description(self.__expanded_location)
  File "/opt/ros/rolling/lib/python3.10/site-packages/launch/launch_description_sources/any_launch_description_source.py", line 53, in _get_launch_description
    return get_launch_description_from_any_launch_file(location)
  File "/opt/ros/rolling/lib/python3.10/site-packages/launch/launch_description_sources/any_launch_file_utilities.py", line 57, in get_launch_description_from_any_launch_file
    raise InvalidLaunchFileError(extension, likely_errors=exceptions)
launch.invalid_launch_file_error.InvalidLaunchFileError: Caught exception when trying to load file of format [py]: trajectory_execution: `Parameter file_path is undefined and no matches for /home/ubuntu/ws_ros2/install/new_panda/share/new_panda/config/*_controllers.yaml

[ERROR] [launch]: Caught exception in launch (see debug for traceback): Caught exception when trying to load file of format [py]: trajectory_execution: `Parameter file_path is undefined and no matches for /home/ubuntu/ws_ros2/install/new_panda/share/new_panda/config/*_controllers.yaml
[DEBUG] [launch.launch_context]: emitting event: 'launch.events.Shutdown'
[DEBUG] [launch]: processing event: '<launch.events.shutdown.Shutdown object at 0x7fedd60220b0>'
[DEBUG] [launch]: processing event: '<launch.events.shutdown.Shutdown object at 0x7fedd60220b0>' ✓ '<launch.event_handlers.on_shutdown.OnShutdown object at 0x7fedd60214e0>'

I get pretty much the same error when launching demo.launch.py. Is there something I'm missing? As the error indicates, there is no controllers.yaml in the config directory. I know that moveit_setup_controllers is not ported yet, but I would have expected that the produced launch files would be functional, and that the missing controller setting would simply use some default templates.

vatanaksoytezer · 2022-05-24T10:56:35Z

I can confirm what Henning is seeing, I went down a bit, and the crashes seems to cause from this bit. Although the launch file don't use controllers moveit_configs_utils still checks for them. Adding a controller.yaml like panda resolves it. Ideally we should avoid that and change it in moveit_configs_utils.

henningkayser · 2022-05-24T12:02:11Z

I can confirm what Henning is seeing, I went down a bit, and the crashes seems to cause from this bit. Although the launch file don't use controllers moveit_configs_utils still checks for them. Adding a controller.yaml like panda resolves it. Ideally we should avoid that and change it in moveit_configs_utils.

How would you run anything without controller settings?

JafarAbdi · 2022-05-24T12:39:57Z

These are the issue I had while testing:

We can't interact with the RViz window
Clicking on the RViz window and then pressing any key is causing it to segfault (maybe related to the previous point?)

Stack trace (most recent call last):
#21   Object "", at 0xffffffffffffffff, in
#20   Object "/home/jafar/workspaces/ros2/ws_moveit2_rolling/install/moveit_setup_assistant/lib/moveit_setup_assistant/moveit_setup_assistant", at 0x55d0e4920d64, in _start
#19   Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7faa778c4e3f, in __libc_start_main
#18   Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7faa778c4d8f, in
#17   Object "/home/jafar/workspaces/ros2/ws_moveit2_rolling/install/moveit_setup_assistant/lib/moveit_setup_assistant/moveit_setup_assistant", at 0x55d0e4947545, in main
#16   Object "/usr/lib/x86_64-linux-gnu/libQt5Core.so.5.15.3", at 0x7faa78035ce3, in QCoreApplication::exec()
#15   Object "/usr/lib/x86_64-linux-gnu/libQt5Core.so.5.15.3", at 0x7faa7802d74a, in QEventLoop::exec(QFlags<QEventLoop::ProcessEventsFlag>)
#14   Object "/usr/lib/x86_64-linux-gnu/libQt5Core.so.5.15.3", at 0x7faa780880a7, in QEventDispatcherGlib::processEvents(QFlags<QEventLoop::ProcessEventsFlag>)
#13   Object "/usr/lib/x86_64-linux-gnu/libglib-2.0.so.0.7200.1", at 0x7faa766373c2, in g_main_context_iteration
#12   Object "/usr/lib/x86_64-linux-gnu/libglib-2.0.so.0.7200.1", at 0x7faa7668e6f7, in
#11   Object "/usr/lib/x86_64-linux-gnu/libglib-2.0.so.0.7200.1", at 0x7faa76639d1a, in g_main_context_dispatch
#10   Object "/usr/lib/x86_64-linux-gnu/libQt5XcbQpa.so.5.15.3", at 0x7faa6ad2cd6d, in
#9    Object "/usr/lib/x86_64-linux-gnu/libQt5Gui.so.5.15.3", at 0x7faa783eaa2b, in QWindowSystemInterface::sendWindowSystemEvents(QFlags<QEventLoop::ProcessEventsFlag>)
#8    Object "/usr/lib/x86_64-linux-gnu/libQt5Gui.so.5.15.3", at 0x7faa784114b9, in QGuiApplicationPrivate::processKeyEvent(QWindowSystemInterfacePrivate::KeyEvent*)
#7    Object "/usr/lib/x86_64-linux-gnu/libQt5Core.so.5.15.3", at 0x7faa7802ee29, in QCoreApplication::notifyInternal2(QObject*, QEvent*)
#6    Object "/usr/lib/x86_64-linux-gnu/libQt5Widgets.so.5.15.3", at 0x7faa78b1e712, in QApplicationPrivate::notify_helper(QObject*, QEvent*)
#5    Object "/usr/lib/x86_64-linux-gnu/libQt5Widgets.so.5.15.3", at 0x7faa78b7e02e, in
#4    Object "/usr/lib/x86_64-linux-gnu/libQt5Core.so.5.15.3", at 0x7faa7802ee29, in QCoreApplication::notifyInternal2(QObject*, QEvent*)
#3    Object "/usr/lib/x86_64-linux-gnu/libQt5Widgets.so.5.15.3", at 0x7faa78b2649d, in QApplication::notify(QObject*, QEvent*)
#2    Object "/usr/lib/x86_64-linux-gnu/libQt5Widgets.so.5.15.3", at 0x7faa78b1e712, in QApplicationPrivate::notify_helper(QObject*, QEvent*)
#1    Object "/usr/lib/x86_64-linux-gnu/libQt5Widgets.so.5.15.3", at 0x7faa78b62377, in QWidget::event(QEvent*)
#0    Object "/opt/ros/rolling/lib/librviz_common.so", at 0x7faa7935078f, in rviz_common::ToolManager::handleChar(QKeyEvent*, rviz_common::RenderPanel*)
Segmentation fault (Address not mapped to object [(nil)])
[ros2run]: Segmentation fault

moveit_setup_assistant/moveit_setup_srdf_plugins/moveit_setup_framework_plugins.xml

moveit_setup_assistant/moveit_setup_simulation/moveit_setup_framework_plugins.xml

moveit_setup_assistant/moveit_setup_framework/moveit_setup_framework_plugins.xml

moveit_setup_assistant/moveit_setup_core_plugins/moveit_setup_framework_plugins.xml

moveit_setup_assistant/moveit_setup_controllers/moveit_setup_framework_plugins.xml

mergify · 2022-05-26T14:03:48Z

This pull request is in conflict. Could you fix it @DLu?

mergify · 2022-05-31T16:27:33Z

This pull request is in conflict. Could you fix it @DLu?

mergify · 2022-06-13T18:13:14Z

This pull request is in conflict. Could you fix it @DLu?

moveit_setup_assistant/moveit_setup_srdf_plugins/src/compute_default_collisions.cpp

mergify · 2022-06-14T15:00:10Z

This pull request is in conflict. Could you fix it @DLu?

…ion)

Co-authored-by: Henning Kayser <henningkayser@picknik.ai>

mergify · 2022-06-16T18:38:42Z

This pull request is in conflict. Could you fix it @DLu?

DLu · 2022-06-16T21:09:54Z

I'm sick of rebasing this. Can we merge now @henningkayser @JafarAbdi @tylerjw

mergify · 2022-06-17T16:31:37Z

This pull request is in conflict. Could you fix it @DLu?

henningkayser · 2022-06-17T16:41:21Z

I'm sick of rebasing this. Can we merge now @henningkayser @JafarAbdi @tylerjw

There is really nothing missing from my end and I'd like to get it merged as soon as possible. I've still not been able to get the generated launch files to work, and I've sunk several hours this week into it and I'm trill consulting with @vatanaksoytezer trying to figure out what's wrong. Call me nit-picky, but without me being able to launch a simple MoveGroup, I can't approve :/

DLu · 2022-06-17T16:52:58Z

I can't fix what I don't know about. Please make a ticket with diagnostic info, like any error messages you're seeing (and your moveit_config folder).

mikeferguson · 2022-06-20T03:54:25Z

One note for anyone switching between branches - I had to delete install/moveit_setup* and build/moveit_setup* to get this to build (otherwise I got an error since there is no top-level CMakeLists.txt in the moveit_setup_assistant folder anymore)

mikeferguson · 2022-06-20T04:12:06Z

Some testing notes on my end: was able to load my robot URDF, generate a package, and run the demo:

I'm sure there are still some bugs in here, but I will note this has gotten me farther in MoveIt2 than any of my attempts in the past two years - so I think we should merge this and then fix bugs as they arise.

The only bug I encountered (but, again shouldn't block merging since this probably works for 95% of use cases right now): is that adding a planning group by "links" or "joints" seems to be broken? If I add by "links", the links themselves show up as joints, along with a series of blank joints. If I add by joints, those same blank joints show up. Adding by "chain", which is probably the most common workflow, works fine.

mikeferguson · 2022-06-21T00:51:42Z

Another update: I've managed to make this run on the real robot (simply launching the move_group.launch.py and then running moveit_rviz.launch.py). In the process I found a recent regression in the RVIZ plugins - PR opened here: #1384

I've basically got the full setup I had in ROS1 working, minus perception (which I haven't attempted to test yet - but also the README indicates that might not be functional yet due to moveit_config_utils)

mikeferguson

I've used this to generate a config and get my robot on MoveIt2 - let's merge it

mikeferguson · 2022-06-23T15:07:40Z

moveit_setup_assistant/README.md

+### Notes
+ * `PerceptionWidget` is ported, except `moveit_configs_utils` needs to be modified to load `sensors_3d.yaml`. This may require adjustments to the format of `sensors_3d.yaml`
+ * Possible bug in `PlanningGroupsWidget`: Creating a new group does not properly create a new JointModelGroup
+ * There are additional templates that have not been ported in the `unported_templates` folder.


We can remove this once #1387 is merged

DLu · 2022-06-27T14:04:16Z

@henningkayser Please find some time to upload your generated MoveIt config

mikeferguson · 2022-06-27T18:36:04Z

@DLu were you gonna fix conflicts and merge this? I think we can deal with any issues @henningkayser is running into in other PRs - this PR is a HUGE step up from what is in the mainline codebase right now and should work for 95% of use cases (as opposed to unported stuff that works for 0%)

gavanderhoorn · 2022-06-27T18:52:10Z

I think we can deal with any issues @henningkayser is running into in other PRs

I would second this.

Provided fixup PRs have a short turn-around time of course.

Many users are basically stuck without the MSA. MoveIt is too complex to not have a wizard guide them when creating new config packages (even if those config packages have been reduced in complexity (at least in the nr of files)).

DLu · 2022-06-27T21:14:45Z

I am all too happy to merge it, but I lack the permissions to do so. I can't even push to this branch on my own, which is why @vatanaksoytezer is graciously cherry-picking commits and resolving conflicts for me.

mikeferguson · 2022-06-27T21:54:32Z

I am all too happy to merge it, but I lack the permissions to do so. I can't even push to this branch on my own

This, I did not know.

JafarAbdi · 2022-06-27T23:14:35Z

🎉 🎉 🎉 🎉 🎉

nbbrooks · 2022-06-28T00:45:26Z

Hooray!! Nice work @DLu

davetcoleman · 2022-06-28T11:18:26Z

I am so glad to see this merged in! Sorry @DLu this took so long, and thank you for your efforts. The MSA has a special place in my Willow Garage intern heart.

Shout out to @JafarAbdi @vatanaksoytezer @henningkayser for the many sub-PR reviews to get here.

Let's now button up any remaining issues :-)

henningkayser reviewed May 17, 2022

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DLu requested a review from henningkayser May 19, 2022 14:05

JafarAbdi mentioned this pull request May 19, 2022

Rolling Jammy Buildfarm Failures #1188

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vatanaksoytezer force-pushed the feature/msa branch from ea483b8 to 2d18fd7 Compare May 19, 2022 15:59

DLu mentioned this pull request May 19, 2022

Flexibility in moveit_configs_utils reading of .setup_assistant #1264

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JafarAbdi reviewed May 24, 2022

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vatanaksoytezer force-pushed the feature/msa branch from 2d18fd7 to 7dc3305 Compare May 25, 2022 17:12

vatanaksoytezer force-pushed the feature/msa branch from ae8e5e9 to db8d79d Compare May 31, 2022 14:12

vatanaksoytezer mentioned this pull request May 31, 2022

WMD Track: MSA #1290

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vatanaksoytezer force-pushed the feature/msa branch from 3545fcc to db1f154 Compare May 31, 2022 17:33

vatanaksoytezer force-pushed the feature/msa branch from 91e6f17 to 5fabe99 Compare June 14, 2022 10:49

DLu commented Jun 14, 2022

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moveit_setup_assistant/moveit_setup_srdf_plugins/src/compute_default_collisions.cpp Outdated Show resolved Hide resolved

DLu and others added 5 commits June 14, 2022 20:34

Move Files Around (split into multiple packages, change to hpp extens…

1c948ca

…ion)

[MSA] Initial Refactor

65d92e9

[MSA] Navigation Widget Fixes (#1054)

55d08ec

[MSA] SRDF Setup (#1057)

5e59a29

[MSA] Upgrade templates to ROS 2 (#1101)

c53935b

Co-authored-by: Henning Kayser <henningkayser@picknik.ai>

vatanaksoytezer force-pushed the feature/msa branch from 640af1e to 1557db8 Compare June 16, 2022 18:38

vatanaksoytezer force-pushed the feature/msa branch from 1557db8 to bd49e18 Compare June 16, 2022 18:39

mikeferguson mentioned this pull request Jun 20, 2022

Missing ros2 py lunch file in setup assistant #1379

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DLu added 2 commits June 21, 2022 20:17

[MSA] Fix SRDF Initialization Bug / Copy Paste Error (#1381)

2d4aadc

[MSA] One XML Parser (#1382)

6ab2036

mikeferguson approved these changes Jun 23, 2022

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Merge remote-tracking branch 'origin/main' into feature/msa

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vatanaksoytezer approved these changes Jun 27, 2022

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JafarAbdi approved these changes Jun 27, 2022

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vatanaksoytezer merged commit 3a51feb into main Jun 27, 2022

This was referenced Jun 28, 2022

Review MSA Architecture #933

Closed

Rethinking the layout of MoveIt Setup Assistant #449

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DLu mentioned this pull request Jul 29, 2022

Modular MSA for ROS 1 moveit/moveit#3182

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henningkayser deleted the feature/msa branch December 9, 2022 20:06

MoveIt Setup Assistant - Merge the Feature branch #1254

MoveIt Setup Assistant - Merge the Feature branch #1254

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