add arguments to launch file templates #1397

jschleicher · 2019-03-14T16:25:35Z

If one installed a moveit_config package, there should be enough
arguments, to use move_group.launch. Otherwise every user of the robot
would have to fork the robot package.

This commit adds some arguments that allow an application package to build
onto a robot's moveit_config:

load_robot_description - if set to false, one can load a modified
robot model that contains e.g. additional fixed objects
(see pilz_robots tutorial for an example use-case)
pipeline - allows to choose between different planning pipelines
(minimal version of Allow pipeline to be loaded from another package #1025)
rviz config_file - path to config file is way more flexible than
defaulting to an empty setting. Especially since the
save config as default option was dropped in RViz.

Checklist

Document API changes relevant to the user in the moveit/MIGRATION.md notes
I'd suggest to cherry-pick this to melodic-devel

welcome · 2019-03-14T16:25:38Z

Thanks for helping in improving MoveIt!

rhaschke

Thanks a lot for this improvement. This was a long-standing shortcoming.

moveit_setup_assistant/templates/moveit_config_pkg_template/launch/demo.launch

@rfeistenauer

According to @rfeistenauer it is preferred to hava a rviz-config in an application package and not just a user-default. (See moveit/moveit#1397) Re-generated demo.launch from upstream template.

rhaschke

Thanks. LGTM.

rhaschke · 2019-03-20T11:44:21Z

moveit_setup_assistant/templates/moveit_config_pkg_template/launch/demo.launch

@@ -1,5 +1,8 @@
 <launch>

+  <!-- specify the planning pipeline -->
+  <arg name="pipeline" default="ompl" />


This is a little bit philosophical: While the tutorials introduce the argument planner, here the argument pipeline is introduced for the very same purpose.
I vote for keeping pipeline because this better indicates that you could have different pipeline configs for the same planner plugin, e.g. ompl1 and ompl2. However, a follow-up PR should be filed for the tutorials to align them.

I agree with keeping pipeline, is planner used in this case anywhere else but the tutorials?

I love long variable names and would even suggest planning_pipeline, but that's for another PR

@jschleicher do you mind updating the tutorials per @rhaschke ?
https://github.com/ros-planning/moveit_tutorials

I'm not a panda expert; updating the tutorials should also re-generate the panda_moveit_config. Opened moveit/moveit_tutorials#300 as follow-up-issue.

BryceStevenWilley

LGTM; very useful change, I've definitely made it in my own robot packages.

BryceStevenWilley · 2019-03-20T12:40:40Z

moveit_setup_assistant/templates/moveit_config_pkg_template/launch/demo.launch

@@ -1,5 +1,8 @@
 <launch>

+  <!-- specify the planning pipeline -->
+  <arg name="pipeline" default="ompl" />


I agree with keeping pipeline, is planner used in this case anywhere else but the tutorials?

BryceStevenWilley · 2019-03-20T12:51:50Z

Looks like the clang-tidy-fix job timed out because this build was just incredibly slow.

@rfeistenauer

According to @rfeistenauer it is preferred to hava a rviz-config in an application package and not just a user-default. (See moveit/moveit#1397) Re-generated demo.launch from upstream template.

davetcoleman · 2019-03-20T23:15:36Z

moveit_setup_assistant/templates/moveit_config_pkg_template/launch/demo.launch

@@ -1,5 +1,8 @@
 <launch>

+  <!-- specify the planning pipeline -->
+  <arg name="pipeline" default="ompl" />


I love long variable names and would even suggest planning_pipeline, but that's for another PR

@jschleicher do you mind updating the tutorials per @rhaschke ?
https://github.com/ros-planning/moveit_tutorials

moveit_setup_assistant/templates/moveit_config_pkg_template/launch/moveit_rviz.launch

davetcoleman · 2019-03-20T23:18:20Z

moveit_setup_assistant/templates/moveit_config_pkg_template/launch/moveit_rviz.launch

-  <arg unless="$(arg config)" name="command_args" value="" />
-  <arg     if="$(arg config)" name="command_args" value="-d $(find [GENERATED_PACKAGE_NAME])/launch/moveit.rviz" />
+  <arg name="rviz_config" default="" />
+  <arg     if="$(eval rviz_config=='')" name="command_args" value="" />


Suggested change

<arg if="$(eval rviz_config=='')" name="command_args" value="" />

<arg if="$(eval rviz_config=='')" name="command_args" value="-d $(find [GENERATED_PACKAGE_NAME])/launch/moveit.rviz" />

We want to keep the default behavior

~~I'd put the default two lines above the line you referenced:~~ Imho it should still be possible, to set an empty config and pass nothing to rviz (which currently loads ~/.rviz/default.rviz). Don't you think so? The former default is still set in demo.launch:52.

What about setting

<arg name="rviz_config" default="$(find [GENERATED_PACKAGE_NAME])/launch/moveit.rviz" />

and add a rviz_config == 'none' option similar to what @rhaschke suggested above?

If I just add this default, it isn't possible to roslaunch pkg moveit_rviz.launch rviz_config:="" since this auto-sets the default and doesn't preserve the empty string.

The approach suggested in #1397 (comment) should handle all cases, including the default:

In moveit_rviz.launch the default of config=False would be kept.

demo.launch overrides this default by passing the package's moveit.rviz.

Launching moveit_rviz.launch with an explicit file argument for config, will load another rviz config.

As far as I can see, you didn't exposed the rviz_config / config argument from demo.launch.

@rhaschke @davetcoleman The initial and current suggestion does not change default behaviour:

The former default False in moveit_rviz.launch did not pass any argument to rviz; same as the default rviz_config=='' now.

The default in demo.launch was to overwrite the argument with True to set the packages rviz-config which is the same now.

Agreed. I think, @davetcoleman comment in #1397 (comment), refers to not change the semantics of the variable "config", which was previously available to enable/disable the package's rviz config.

ah i see, my bad.

If one has an installed moveit_config package, there should be enough arguments, to use move_group.launch. Otherwise every user of the robot would have to fork the robot package. This commit adds some options that allow an application package to build onto a robot's moveit_config: * load_robot_description - if set to false, one can load a modified robot model that contains e.g. additional fixed objects * pipeline - allows to choose between different planning pipelines (minimal version of moveit#1025) * rviz config_file - path to config file is way more flexible than defaulting to an empty setting. Especially since the `save config as default` option was dropped in RViz.

jschleicher · 2019-03-21T13:23:00Z

Rebased onto current master.
@davetcoleman Pleas re-review.
@v4hn The auto-assignment requested another review; I dont' think, that is necessary...

MIGRATION.md

Co-Authored-By: jschleicher <j.schleicher@pilz.de>

davetcoleman · 2019-03-26T19:45:57Z

moveit_setup_assistant/templates/moveit_config_pkg_template/launch/moveit_rviz.launch

-  <arg unless="$(arg config)" name="command_args" value="" />
-  <arg     if="$(arg config)" name="command_args" value="-d $(find [GENERATED_PACKAGE_NAME])/launch/moveit.rviz" />
+  <arg name="rviz_config" default="" />
+  <arg     if="$(eval rviz_config=='')" name="command_args" value="" />


ah i see, my bad.

welcome · 2019-03-26T19:46:25Z

Congrats on getting your first MoveIt! pull request merged and improving open source robotics!

* add arguments to launch file templates If one has an installed moveit_config package, there should be enough arguments, to use move_group.launch. Otherwise every user of the robot would have to fork the robot package. This commit adds some options that allow an application package to build onto a robot's moveit_config: * load_robot_description - if set to false, one can load a modified robot model that contains e.g. additional fixed objects * pipeline - allows to choose between different planning pipelines (minimal version of moveit#1025) * rviz config_file - path to config file is way more flexible than defaulting to an empty setting. Especially since the `save config as default` option was dropped in RViz. * rename argument to rviz_config * add rviz_config argument to MIGRATION.md * Update MIGRATION.md Co-Authored-By: jschleicher <j.schleicher@pilz.de>

…unch/demo_gazebo.launch The new argument requires a config file instead of boolean value. See moveit#1397. Co-Authored-By: jschleicher <j.schleicher@pilz.de>

…p_monitor package (moveit#1397)

rhaschke requested changes Mar 19, 2019

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rhaschke added the awaits 2nd review one maintainer approved this request label Mar 19, 2019

rhaschke mentioned this pull request Mar 19, 2019

Allow pipeline to be loaded from another package #1025

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jschleicher requested a review from davetcoleman as a code owner March 20, 2019 10:56

jschleicher mentioned this pull request Mar 20, 2019

pass rviz config file path as launch argument PilzDE/pilz_robots#84

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rhaschke approved these changes Mar 20, 2019

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BryceStevenWilley approved these changes Mar 20, 2019

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davetcoleman reviewed Mar 20, 2019

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jschleicher requested a review from v4hn as a code owner March 21, 2019 13:14

jschleicher added 3 commits March 21, 2019 14:19

rename argument to rviz_config

4e1a9f1

add rviz_config argument to MIGRATION.md

80af150

jschleicher force-pushed the launchtemplates-arguments branch from 7502af3 to 80af150 Compare March 21, 2019 13:21

rhaschke requested changes Mar 21, 2019

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MIGRATION.md Outdated Show resolved Hide resolved

Update MIGRATION.md

4b7f163

Co-Authored-By: jschleicher <j.schleicher@pilz.de>

rhaschke approved these changes Mar 21, 2019

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davetcoleman approved these changes Mar 26, 2019

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davetcoleman merged commit 261a0c4 into moveit:master Mar 26, 2019

davetcoleman mentioned this pull request Mar 26, 2019

Rename planner to pipeline in launch examples moveit/moveit_tutorials#300

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jschleicher mentioned this pull request Dec 2, 2019

Fix Rviz argument in demo_gazebo.launch #1797

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sjahr pushed a commit to sjahr/moveit that referenced this pull request Jun 21, 2024

Remove no longer needed no-pedantic option in moveit_ros_occupancy_ma…

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…p_monitor package (moveit#1397)

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add arguments to launch file templates #1397

add arguments to launch file templates #1397

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	<arg if="$(eval rviz_config=='')" name="command_args" value="" />
	<arg if="$(eval rviz_config=='')" name="command_args" value="-d $(find [GENERATED_PACKAGE_NAME])/launch/moveit.rviz" />

add arguments to launch file templates #1397

add arguments to launch file templates #1397

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