Port planning scene ros api tutorial

[vatanaksoytezer]

• Port planning scene ros api tutorial and adresses Port "Planning Scene ROS API" tutorial #8
• Needs Fix move group namespace and demo.launch.py #69 s demo.launch.py to work as expected

[vatanaksoytezer]

Also there seems something wrong with ros2 run moveit_ros_planning moveit_print_planning_scene_info. Which gives me:

[INFO] [1618491970.223003091] [print_planning_scene_info]: Getting planning scene info to print
[INFO] [1618491970.223125481] [moveit_rdf_loader.rdf_loader]: Robot model parameter not found! Did you remap 'robot_description'?
[ERROR] [1618491970.227218950] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Robot model not loaded
[ERROR] [1618491970.227438829] [print_planning_scene_info]: Planning scene not configured

[MarqRazz]

This looks good @vatanaksoytezer.

Is there a fix/issue open for getting moveit_print_planning_scene_info to work?

[MarqRazz]

Do you want to change the prompt prints to not include RvizVisualToolsGui?

[vatanaksoytezer]

They were actually not working as intended for me, so I used the normal function one.

[MarqRazz]

The last time I checked rviz_visual_tools GUI had not been ported to ROS2.

In the other tutorials I ported I commented out the visual_tools.prompt and added my own to make it easy to re-enable when it gets added back in. It's up to you if you want to do the same approach here...

prompt("Press 'Enter' to start the demo");
/* visual_tools.prompt("Press 'next' in the RvizVisualToolsGui window to start the demo"); */

[vatanaksoytezer]

Yeah sure, I can make it that way.

[vatanaksoytezer]

Is there a fix/issue open for getting moveit_print_planning_scene_info to work?

Yeah, I've talked this with @JafarAbdi , I wrote the todo for it but I forgot to open up the issue. Will open today. He has mentioned he knew what the problem is and will fix it when he has some spare time to work on that.

See #76.