Using Bullet as a Collision Checker by j-petit · Pull Request #337 · moveit/moveit_tutorials

j-petit · 2019-06-14T15:35:49Z

Description

This tutorial demonstrate how to use Bullet as a collision checker and is part of the GSoC 2019. It shows normal collision detection as well as continuous collision detection. I am using a lot of code from the Visualizing Collisions tutorial to have the same interactive robot setup with the visualized collisions.

This does not build and pass yet, as the feature branch has to be merged into master first.

welcome · 2019-06-14T15:35:52Z

Thanks for helping in improving MoveIt!

davetcoleman · 2019-09-17T21:22:35Z

+  moveit_visual_tools::MoveItVisualTools visual_tools("panda_link0");
+  ros::Publisher robot_state_publisher(node_handle.advertise<moveit_msgs::DisplayRobotState>("interactive_robot_state", 1));
+  ros::Publisher robot_state_publisher_2(node_handle.advertise<moveit_msgs::DisplayRobotState>("robot_state_before", 1));
+  ros::Publisher world_state_publisher(node_handle.advertise<visualization_msgs::Marker>("interactive_robot_markers", 100));


a Marker publisher is already included in MoveItVisualTools (see rviz_visual_tools, the parent class), so you should not need this.

if I use the one from MoveItVisualTools, then all topic names get prefixed by bullet_collision_detection which means that I can't use the same topic as the interactive robot uses. This means that I can't show both markers / robot states through the same visualization because they need different topics.

davetcoleman · 2019-09-17T21:23:01Z

+  spinner.start();
+
+  moveit_visual_tools::MoveItVisualTools visual_tools("panda_link0");
+  ros::Publisher robot_state_publisher(node_handle.advertise<moveit_msgs::DisplayRobotState>("interactive_robot_state", 1));


a DisplayRobotState publisher is already included in MoveItVisualTools, so you should not need this unless you need three of those publishers...

Same as above comment

mamoll

I made some small suggestions to use std::make_shared in two places. There may be more places you could do this. See https://stackoverflow.com/questions/20895648/difference-in-make-shared-and-normal-shared-ptr-in-c on detailed info on why this is generally a good idea.

j-petit · 2019-11-10T20:38:38Z

I addressed the review comments. However, this PR still requires Bullet to be merged via the feature branch before.

mamoll · 2019-11-12T14:31:14Z

Which PRs have to be merged in the moveit repo before this PR can be merged?

j-petit · 2019-11-12T14:59:37Z

The feature branch feature-bullet-trajopt into master.

mamoll · 2019-11-12T15:36:25Z

Can you create a PR for that? Or do your existing PRs contain the same commits?

mlautman · 2019-11-12T20:02:38Z

+    // BEGIN_TUTORIAL
+    // The code starts with creating an interactive robot and a new planning scene.
+    InteractiveRobot interactive_robot;
+    g_planning_scene = new planning_scene::PlanningScene(interactive_robot.robotModel());


Is there a reason to use raw pointers here?

Either use smart pointer or give a reason why we are using raw pointers here

I adapted the code from the visualizing tutorial for this tutorial and as it uses raw pointers I thought it would be fine.

I replaced all raw pointers with smart ones.

j-petit · 2019-11-16T15:51:17Z

Can you create a PR for that? Or do your existing PRs contain the same commits?

We first have to discuss how we deal with the fact that the Bullet version available through apt in Xenial is outdated and does not support the collision checking before we can do any merging. See this issue. I added this topic to the agenda for the maintainer meeting next month.

v4hn · 2019-11-18T08:50:49Z

We first have to discuss how we deal with the fact that the Bullet version available through apt in Xenial is outdated

In the issue you linked, the proposed solution was to check the bullet versions at compile time and just disable the feature if bullet is too old. Personally, I don't see the problem with that.

j-petit · 2019-11-18T16:05:18Z

So this means enabling/disabling this in the cmake files right? Then I can provide a PR for this.

mamoll · 2019-11-18T16:15:18Z

So this means enabling/disabling this in the cmake files right? Then I can provide a PR for this.

Yes, typically, you'd have something like this:

find_package(bullet 2.88)
set(MOVEIT_HAVE_BULLET bullet_FOUND)
# this file contains: \cmakedefine01 MOVEIT_HAVE_BULLET
configure_file(some_header.h.in some_header.h)

If Bullet doesn't include cmake config files or doesn't support version number checking, you have to somehow get the version some other way.

j-petit · 2019-11-18T16:36:59Z

Thanks Mark! Mark Moll <notifications@github.com> schrieb am Mo., 18. Nov. 2019, 17:15:

…

So this means enabling/disabling this in the cmake files right? Then I can provide a PR for this. Yes, typically, you'd have something like this: find_package(bullet 2.88) set(MOVEIT_HAVE_BULLET bullet_FOUND) # this file contains: \cmakedefine01 MOVEIT_HAVE_BULLET configure_file(some_header.h.in some_header.h) If Bullet doesn't include cmake config files or doesn't support version number checking, you have to somehow get the version some other way. — You are receiving this because you authored the thread. Reply to this email directly, view it on GitHub <#337>, or unsubscribe <https://github.com/notifications/unsubscribe-auth/AETC5JRKPDOGMD4PPA6Z77LQUK5RRANCNFSM4HYI7GUA> .

j-petit · 2019-11-20T09:48:57Z

Bullet does set ( BULLET_VERSION_STRING "2.87" ) in the BulletConfig.cmake. Do I get this correctly that this is not compatible with the cmake find_package(Bullet [version]) command? When I do this, it does not matter which number I put in the version. I am not so experienced with setting up a build system with cmake.

j-petit · 2019-11-20T12:51:52Z

All further discussions concerning Bullet and cmake happening here.

felixvd · 2020-09-11T14:56:34Z

Would be too bad if this was left by the roadside. It has had a birthday already. Do you think you can give this another push @j-petit ?

j-petit · 2020-09-11T17:21:06Z

wups, completely missed that this is still pending. Thanks for reminding me Felix! I'll try fixing those loose ends in the near future. As I am not working in the ROS environment anymore, it's hard to get started again...

j-petit · 2020-10-03T10:58:52Z

So, this is finally ready to be merged from my side. ping @felixvd, @mamoll

mamoll

This looks good to me. Let's get this merged (finally!).

j-petit · 2020-10-25T11:11:59Z

Fixed Travis, can we get this merged, @mamoll ?

mamoll · 2020-10-25T13:11:05Z

Fixed Travis, can we get this merged, @mamoll ?

IMO, yes. I'd like to get the approval from anther maintainer. @davetcoleman or @felixvd, perhaps?

j-petit · 2020-11-02T09:29:58Z

Or @mlautman ?

felixvd · 2020-11-02T10:09:33Z

I would like to actually test it before I approve it, but I probably won't get around to it before ROS World :(

j-petit · 2020-11-02T10:13:33Z

That's fine, I think it would be great if someone is actually testing it beforehand!

* use copy of visualizing collisions tutorial * adapted copied tutorial for Bullet * added CCD demonstration to tutorial

AndyZe · 2020-11-19T21:53:19Z

As you know, I've started using Bullet recently. It's great so far!

I downloaded the tutorial, built the webpage, and ran it. It all looks good. Let's finally get this merged.

j-petit · 2020-11-20T08:49:17Z

Thanks Andy!

j-petit mentioned this pull request Jun 14, 2019

GSoC: Improved Collision Checking moveit/moveit#1427

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davetcoleman reviewed Jul 30, 2019

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Comment thread doc/adding_collision_detector/adding_collision_checker.rst Outdated

Comment thread doc/adding_collision_detector/src/adding_collision_checker_tutorial.cpp Outdated

rhaschke changed the title ~~Adding a new collision checker [WIP]~~ [WIP] Adding a new collision checker Aug 9, 2019

j-petit changed the title ~~[WIP] Adding a new collision checker~~ [WIP] Bullet as collision checker Aug 20, 2019

j-petit changed the title ~~[WIP] Bullet as collision checker~~ [WIP] Using Bullet as a collision checker Aug 20, 2019

j-petit force-pushed the adding_collision_checker branch from c9618f9 to 3ca2e43 Compare August 28, 2019 09:59

j-petit changed the title ~~[WIP] Using Bullet as a collision checker~~ Using Bullet as a Collision Checker Aug 28, 2019

j-petit force-pushed the adding_collision_checker branch from 3ca2e43 to 6feb67b Compare August 28, 2019 10:05

j-petit mentioned this pull request Sep 17, 2019

Unified Collision Environment Bullet moveit/moveit#1572

Merged

davetcoleman reviewed Sep 17, 2019

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mamoll requested changes Sep 18, 2019

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Comment thread doc/bullet_collision_checker/src/bullet_collision_checker_tutorial.cpp Outdated

Comment thread doc/bullet_collision_checker/src/bullet_collision_checker_tutorial.cpp Outdated

j-petit force-pushed the adding_collision_checker branch from 6feb67b to 2cf6bfc Compare November 10, 2019 20:32

mlautman reviewed Nov 12, 2019

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j-petit force-pushed the adding_collision_checker branch 2 times, most recently from b3a4fe0 to ef67cfb Compare September 29, 2020 16:57

j-petit closed this Oct 3, 2020

j-petit reopened this Oct 3, 2020

mamoll approved these changes Oct 5, 2020

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j-petit force-pushed the adding_collision_checker branch from 01fbcc3 to 415a87b Compare October 24, 2020 09:44

j-petit added 9 commits November 18, 2020 17:55

Adding Bullet collision tutorial:

1ff012a

* use copy of visualizing collisions tutorial * adapted copied tutorial for Bullet * added CCD demonstration to tutorial

PR review fix

d312469

clang-format and update broken link

b7faecc

update robot state and maker visualizations

8b9f9ad

Replace raw pointers through smart pointers

44df5a6

Retriggering travis

e35c84d

fix compiler warnings

62265f7

fix clang-tidy

50615ce

Fixup

6a541ac

j-petit force-pushed the adding_collision_checker branch from f2cfa24 to 6a541ac Compare November 18, 2020 16:56

j-petit mentioned this pull request Nov 18, 2020

Blogpost about Bullet for collision detection moveit/moveit.ros.org#526

Merged

1 task

AndyZe merged commit 7e6ca05 into moveit:master Nov 19, 2020

j-petit deleted the adding_collision_checker branch November 20, 2020 08:49

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