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Add info messages to pick and place routine #1004

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commented Jul 30, 2018

Description

The current pick and place pipeline silently assigns a default duration of an arbitrary (and long) 7 seconds to each action of the gripper. This PR adds a message alerting the user to this behavior, and prompts them to define an appropriate wait time for their own gripper. This helps them identify a problem which is otherwise not trivial to debug, due to the structure of the planning stages. Case in point: it was an issue in the official pick and place tutorial.

I suppose this should have been a PR on melodic-devel and cherry-picked to Kinetic. Let me know if anything needs changing.

Checklist

  • Required: Code is auto formatted using clang-format
  • Extended the tutorials / documentation, if necessary reference
  • Include a screenshot if changing a GUI
  • Optional: Created tests, which fail without this PR reference
  • Optional: Decide if this should be cherry-picked to other current ROS branches (Indigo, Jade, Kinetic)

felixvd added some commits Jul 30, 2018

Add debug messages to pick and place routine
The current behavior silently adds an arbitrary wait time to the pipeline. Users should define an appropriate wait time for their own gripper. This message helps them find the issue, which is otherwise not trivial to debug.

felixvd added a commit to felixvd/moveit_tutorials that referenced this pull request Jul 30, 2018

Remove long wait by adding grasp closure time
The [video in the Pick and Place tutorial](http://docs.ros.org/kinetic/api/moveit_tutorials/html/doc/pick_place/pick_place_tutorial.html) is 45 seconds long. For 28 of those 45 seconds, the robot is standing still. This is because a default wait time of 7 seconds is added after every opening and closing of the gripper. This change fixes that time to 0.5 s and makes the movement look smooth.

I also propose notifying the user about this behavior in [this PR](ros-planning/moveit#1004).

@davetcoleman davetcoleman merged commit 76058c3 into ros-planning:kinetic-devel Jul 31, 2018

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davetcoleman added a commit that referenced this pull request Jul 31, 2018

Add info messages to pick and place routine (#1004)
* Add debug messages to pick and place routine

The current behavior silently adds an arbitrary wait time to the pipeline. Users should define an appropriate wait time for their own gripper. This message helps them find the issue, which is otherwise not trivial to debug.

* Apply clang-format

* Fix auto-formatting
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commented Jul 31, 2018

cherry picked to melodic

mlautman added a commit to ros-planning/moveit_tutorials that referenced this pull request Aug 6, 2018

Remove long wait by adding grasp closure time (#200)
The [video in the Pick and Place tutorial](http://docs.ros.org/kinetic/api/moveit_tutorials/html/doc/pick_place/pick_place_tutorial.html) is 45 seconds long. For 28 of those 45 seconds, the robot is standing still. This is because a default wait time of 7 seconds is added after every opening and closing of the gripper. This change fixes that time to 0.5 s and makes the movement look smooth.

I also propose notifying the user about this behavior in [this PR](ros-planning/moveit#1004).
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commented Aug 20, 2018

Thanks @felixvd !
I was annoyed by this behavior years ago, but apparently never added something here... 👍

MohmadAyman added a commit to MohmadAyman/moveit that referenced this pull request Aug 25, 2018

Add info messages to pick and place routine (ros-planning#1004)
* Add debug messages to pick and place routine

The current behavior silently adds an arbitrary wait time to the pipeline. Users should define an appropriate wait time for their own gripper. This message helps them find the issue, which is otherwise not trivial to debug.

* Apply clang-format

* Fix auto-formatting

@felixvd felixvd deleted the felixvd:add-pick-place-debug-message branch Dec 18, 2018

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