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Port planning_scene_monitor to ROS2 #112

Merged
merged 5 commits into from
Jan 27, 2020
Merged

Port planning_scene_monitor to ROS2 #112

merged 5 commits into from
Jan 27, 2020

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JafarAbdi
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henningkayser
henningkayser reviewed Oct 29, 2019
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I'm only half way through. I'll give this a second round tomorrow

moveit_ros/planning/planning_scene_monitor/demos/demo_scene.cpp Outdated Show resolved Hide resolved
moveit_ros/planning/planning_scene_monitor/CMakeLists.txt Outdated Show resolved Hide resolved
moveit_ros/planning/planning_scene_monitor/demos/demo_scene.cpp Outdated Show resolved Hide resolved
moveit_ros/planning/planning_scene_monitor/demos/demo_scene.cpp Outdated Show resolved Hide resolved
moveit_ros/planning/planning_scene_monitor/demos/demo_scene.cpp Outdated Show resolved Hide resolved
moveit_ros/planning/planning_scene_monitor/src/current_state_monitor.cpp Outdated Show resolved Hide resolved
moveit_ros/planning/planning_scene_monitor/src/current_state_monitor.cpp
if (tf_buffer_ && !robot_model_->getMultiDOFJointModels().empty())
{
tf_connection_.reset(new TFConnection(
tf_buffer_->_addTransformsChangedListener(boost::bind(&CurrentStateMonitor::tfCallback, this))));
// TODO (anasarrak): replace this for the appropiate function, there is no similar
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There should be one now

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They replaced it see, I should change MoveIt to use the new API and will port it to MoveIt2

moveit_ros/planning/planning_scene_monitor/src/current_state_monitor.cpp Outdated Show resolved Hide resolved
moveit_ros/planning/planning_scene_monitor/src/current_state_monitor.cpp Outdated Show resolved Hide resolved
moveit_ros/planning/planning_scene_monitor/src/current_state_monitor.cpp Show resolved Hide resolved
@RoboticsYY RoboticsYY mentioned this pull request Dec 20, 2019
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@RoboticsYY RoboticsYY force-pushed the pr-planning_scene_monitor branch 9 times, most recently from e8bfb9e to a4e5721 Compare January 15, 2020 10:32
henningkayser
henningkayser reviewed Jan 15, 2020
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moveit_ros/planning/planning_scene_monitor/demos/demo_scene.cpp Outdated Show resolved Hide resolved
moveit_ros/planning/planning_scene_monitor/demos/demo_scene.cpp Outdated Show resolved Hide resolved
moveit_ros/planning/planning_scene_monitor/demos/demo_scene.cpp Outdated Show resolved Hide resolved
moveit_ros/planning/planning_scene_monitor/demos/demo_scene.cpp Outdated Show resolved Hide resolved
...lanning/planning_scene_monitor/include/moveit/planning_scene_monitor/current_state_monitor.h Show resolved Hide resolved
moveit_ros/planning/planning_scene_monitor/src/planning_scene_monitor.cpp Outdated Show resolved Hide resolved
moveit_ros/planning/planning_scene_monitor/src/planning_scene_monitor.cpp
(robot_description_[0] == '/') ? robot_description_.substr(1) : robot_description_;

nh_.param(robot_description + "_planning/default_robot_padding", default_robot_padd_, 0.0);
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These have direct corresponding functions, we don't need to check has_parameter everywhere.

moveit_ros/planning/planning_scene_monitor/src/trajectory_monitor.cpp Outdated Show resolved Hide resolved
moveit_ros/planning/planning_scene_monitor/src/trajectory_monitor.cpp Outdated Show resolved Hide resolved
moveit_ros/planning/planning_scene_monitor/src/trajectory_monitor.cpp Outdated Show resolved Hide resolved
@RoboticsYY RoboticsYY force-pushed the pr-planning_scene_monitor branch 3 times, most recently from b8fdfd7 to ad3e12b Compare January 20, 2020 14:55
@henningkayser
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@RoboticsYY thanks for fixing this up so far! Could you squash/cleanup the commit history and address the remaining points? Then lgtm

@JafarAbdi JafarAbdi mentioned this pull request Jan 22, 2020
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@RoboticsYY RoboticsYY force-pushed the pr-planning_scene_monitor branch 2 times, most recently from 70d8bf2 to 1f46a61 Compare January 24, 2020 09:21
RoboticsYY
RoboticsYY reviewed Jan 26, 2020
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@JafarAbdi I have left some comments to the code I think I haven't finished clean-up or found an answer to.

...anning/planning_scene_monitor/include/moveit/planning_scene_monitor/planning_scene_monitor.h Outdated
ros::Subscriber collision_object_subscriber_;
rclcpp::Subscription<moveit_msgs::msg::AttachedCollisionObject>::SharedPtr attached_collision_object_subscriber_;
rclcpp::Subscription<moveit_msgs::msg::CollisionObject>::SharedPtr collision_object_subscriber_;
std::unique_ptr<tf2_ros::MessageFilter<moveit_msgs::msg::CollisionObject> > collision_object_filter_;
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collision_object_filter seems not necessary.

...anning/planning_scene_monitor/include/moveit/planning_scene_monitor/planning_scene_monitor.h
@@ -544,21 +539,22 @@ class PlanningSceneMonitor : private boost::noncopyable

/// the amount of time to wait in between updates to the robot state
// This field is protected by state_pending_mutex_
ros::WallDuration dt_state_update_;
std::chrono::duration<double> dt_state_update_; // 1hz
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@RoboticsYY RoboticsYY Jan 26, 2020 •
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Maybe there should be some global guidance about replacing ros::WallTime and ros::WallDuration by std::chrono::system_clock::time_point and std::chrono::duration.

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I agree we should add an alias for that something like moveit::TimePoint

moveit_ros/planning/planning_scene_monitor/src/current_state_monitor.cpp Outdated Show resolved Hide resolved
moveit_ros/planning/planning_scene_monitor/src/current_state_monitor.cpp Outdated Show resolved Hide resolved
...anning/planning_scene_monitor/include/moveit/planning_scene_monitor/planning_scene_monitor.h
// TODO: (anasarrak) callbacks on ROS2?
// https://answers.ros.org/question/300874/how-do-you-use-callbackgroups-as-a-replacement-for-callbackqueues-in-ros2/
// ros::CallbackQueue queue_;
std::shared_ptr<rclcpp::executors::SingleThreadedExecutor> spinner_;
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spinner_ seems not necessary.

moveit_ros/planning/planning_scene_monitor/src/current_state_monitor.cpp Outdated Show resolved Hide resolved
moveit_ros/planning/planning_scene_monitor/src/planning_scene_monitor.cpp Outdated Show resolved Hide resolved
moveit_ros/planning/planning_scene_monitor/src/planning_scene_monitor.cpp Outdated Show resolved Hide resolved
moveit_ros/planning/planning_scene_monitor/src/planning_scene_monitor.cpp
else
{
ROS_DEBUG_NAMED(LOGNAME, "Reading additional default collision operations");

XmlRpc::XmlRpcValue coll_ops;
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Refactor for XmlRpc.

moveit_ros/planning/planning_scene_monitor/src/planning_scene_monitor.cpp
node_->get_parameter_or(robot_description + "_planning/default_attached_padding", default_attached_padd_, 0.0);
default_robot_link_padd_ = std::map<std::string, double>();
default_robot_link_scale_ = std::map<std::string, double>();
// TODO: enable parameter type support to std::map
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Seems ROS2 doesn't support parameter type for std::map.

JafarAbdi
JafarAbdi commented Jan 27, 2020
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moveit_ros/planning/planning_scene_monitor/src/planning_scene_monitor.cpp
acm.setEntry(std::string(coll_ops[i]["object1"]), std::string(coll_ops[i]["object2"]),
std::string(coll_ops[i]["operation"]) == "disable");
}
RCLCPP_DEBUG(LOGGER, "Reading additional default collision operations");
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Is this part important anymore, after googling a little bit seems to me this was part of the arm_navigation package .? see 1 2

@henningkayser henningkayser merged commit 3080347 into moveit:master Jan 27, 2020
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@JafarAbdi @henningkayser @RoboticsYY