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Create a copy of abb_irb6600_support and rename to abb_irb6640_support #89
Create a copy of abb_irb6600_support and rename to abb_irb6640_support #89
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Levi-Armstrong
commented
Jul 31, 2015
- The abb_irb6600_support contained the irb6640 not the irb6600. A duplicate of the irb6640 will remain in the abb_irb6600_support package until Jade
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@@ -38,4 +38,8 @@ | |||
<run_depend>joint_state_publisher</run_depend> | |||
<run_depend>robot_state_publisher</run_depend> | |||
<run_depend>rviz</run_depend> | |||
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<export> | |||
<deprecated> All files related to the irb6640 will be removed in Jade, use the abb_irb6640_support package going forward. </deprecated> |
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'please use the ..' :) ?
Should we perhaps put this package in |
<param name="use_gui" value="true" /> | ||
<node name="joint_state_publisher" pkg="joint_state_publisher" type="joint_state_publisher" /> | ||
<node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher" /> | ||
<node name="rviz" pkg="rviz" type="rviz" args="-d $(find industrial_robot_client)/config/robot_state_visualize.rviz" required="true" /> |
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Indentation
Regarding the subdirs of It's a minor thing, but would cut down the size of the package, as well as reduce the amount of work of adding support for a new variant as we don't have to convert all the meshes every time. If we can, then the reach should probably not be included in the name of the If the payload influences the geometry of the robot as well, then sharing may not be as convenient anymore. |
@@ -0,0 +1,51 @@ | |||
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ |
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This package, although mostly a copy (content wise) of another, has not yet been released, so it seems strange to include the changelog of another pkg here.
I assumed because it was just a copy and a rename to keep it in the abb repository. After reviewing the link offsets, I believe they are not correct per the product specification. Some of the links are only off my a few millimeters but I believe that this should eventual be corrected. I see three option: I am leaning toward option 3, what do you think? |
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@Levi-Armstrong wrote:
yeah, that would make the most sense, as it is really a copy, content-wise.
Yes, we should certainly fix that. The offsets could be the result of using the SolidWorks to URDF plugin without manually defining and / or correcting the link origins. 'luckily' we have a copy of the old structure in the
Option 3 would be the quickest way to move forward. Option 1 seems like the option which would cause the least amount of PRs introducing new pkgs and correcting things, which is also nice. We could go with 3: it's against an |
I think this pkg looks ok, but I've one thing I'd like to check: do the 7 variants of the IRB 6640 share any link geometry (so everything up to If so, could we introduce |
@Levi-Armstrong wrote:
Both |
Btw, should |
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@gavanderhoorn: Since there were several issues with the urdf, I went ahead and downloaded the model and created the urdf from scratch. It now matches the product specification and it now includes .dae files for the visual mesh.
I was not sure on this, but know that I have thought about it is unlikely that anyone is using this other than to visualize the model. If they were going to create their own setup they create it using the robot support package; so I think it would be best to go ahead and update the abb_irb6640_moveit_config. Do you agree? |
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<xacro:abb_irb6640 prefix=""/> | ||
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</robot> | ||
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remove empty lines
@Levi-Armstrong wrote:
nice. Lots of detail there. The colours aren't as 'popping' as they used to be, but that is more a rendering issue I believe. re: moveit config: I'm not sure. Updating the MoveIt config really would make this a non-bw-compatible PR. Especially since the piston & cylinder are now non- On the other hand: what is there right now is really wrong, so we might just take the opportunity to fix things up completely. Two other minor things:
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@gavanderhoorn: Now that the source_data directory has been removed is it ready to be merged? |
Have you checked the MoveIt config? With these updated files I get some unexpected collisions between Also: the piston seems to be completely ignored. This is probably not really important, but looks strange. |
@gavanderhoorn, I disabled the collision between link_cylinder and link_2 it should never be in collision. I was showing collision because the convex hull of link_2 simplified the relief in the back of link_2. I also noticed that when dragging the robot it is not updating the mimic links but when planning and executing they get updated. Do you think this is an error within the Motion Planning plugin for RVIZ? |
Not sure whether it is really an error, but I've noticed this with other robots with parallel links as well. I believe mimic and / or virtual joints are not updated during dragging. Some minor things:
Other than those things this looks ok now. |
Can this be merged? |
@gavanderhoorn, Since the visual and collision model were updated, where the piston and cylinder is now non-fixed and the link offsets were corrected; would it be safe to say this is a new package and leave the updated moveit_config? |
I'm not sure I follow @Levi-Armstrong? "would it be safe to say this is a new package and leave the updated moveit_config" ? |
The comment was in reference to the statement below. Is it ok to leave the updated moveit_config package since several things about the robot were corrected/updated? Also the other package will be around until Jade to provide time for users to transition to the new package for those current using the old package.
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@gavanderhoorn, Is this OK to merge based on my previous comment? |
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Updating the MoveIt pkg was fine. I just thought it'd be nice to keep the original manifest ( The reference to 3757daa was there because we added the ability to configure the location of the mongodb database by hand in #60, but the newly generated moveit pkg removes it again (as you probably used the latest released MSA). That would be a regression for this particular package, as it has been released ( The RViz config is minor.
As the maintainer I'll leave it to you to decide whether the above issues should be fixed before merging. |
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@gavanderhoorn I have made the remaining requested changes:
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@gavanderhoorn I got the travis ci errors resolved. Can you please review when available? |
@gavanderhoorn Friendly ping. |
@Levi-Armstrong This PR needs to be rebased against the current version of the repository. Otherwise, though, +1 from me. This nomenclature issue has caused problems for me in the past. Would be nice to get this merged as we move toward |
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@gavanderhoorn I believe all issues have been addressed and is ready to be merge. |
<include file="$(find abb_irb6640_moveit_config)/launch/default_warehouse_db.launch" if="$(arg db)"> | ||
<arg name="moveit_warehouse_database_path" value="$(arg db_path)"/> | ||
</include> | ||
<include file="$(find abb_irb6640_moveit_config)/launch/default_warehouse_db.launch" if="$(arg db)"/> | ||
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</launch> |
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This seems to revert this file back to one where the DB location isn't configurable. This will lead to problems when this package gets released, as the default installation location /opt/ros/$distro/..
is not world writable. See #60.
Looks ok. MoveIt still plans. The mimic joint works (piston can do some strange things, but that is expected given the limitations it has). Unfortunately no 6640 around to test this on (yet). |
If you address the two comments about Daniel's email address and the Could you also please insert an empty line between the first and second line of the commit message? That would make things slightly easier to read (on the command line fi). |
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- The abb_irb6600_support contained the irb6640 not the irb6600. A duplicate of the irb6640 will remain in the abb_irb6600_support package until Jade
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@gavanderhoorn, I have made the requested changes. |