Use MoveIt fake controller for the demo #231

JafarAbdi · 2020-07-09T15:44:44Z

Description

Please explain the changes you made, including a reference to the related issue if applicable

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Required by CI: Code is auto formatted using clang-format
Extend the tutorials / documentation reference
Document API changes relevant to the user in the MIGRATION.md notes
Create tests, which fail without this PR reference
Include a screenshot if changing a GUI
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codecov · 2020-07-09T15:59:06Z

Codecov Report

Merging #231 into master will increase coverage by 0.06%.
The diff coverage is n/a.

@@            Coverage Diff             @@
##           master     #231      +/-   ##
==========================================
+ Coverage   47.37%   47.44%   +0.06%     
==========================================
  Files         143      143              
  Lines       13347    13347              
==========================================
+ Hits         6323     6332       +9     
+ Misses       7024     7015       -9

Impacted Files	Coverage Δ
...dl_kinematics_plugin/src/kdl_kinematics_plugin.cpp	`71.11% <0.00%> (+4.00%)`	⬆️

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henningkayser

Great that this works so seamlessly, +1 after comments are addressed.

moveit_demo_nodes/run_moveit_cpp/src/run_moveit_cpp.cpp

moveit_ros/planning/trajectory_execution_manager/src/trajectory_execution_manager.cpp

moveit_demo_nodes/run_moveit_cpp/launch/run_moveit_cpp.launch.py

henningkayser · 2020-07-22T13:33:26Z

@JafarAbdi ping

henningkayser · 2020-07-22T18:16:37Z

When I try to run this I get the following exception:

[DEBUG] [launch.launch_context]: emitting event synchronously: 'launch.events.IncludeLaunchDescription'
[DEBUG] [launch.launch_context]: emitting event synchronously: 'launch.events.IncludeLaunchDescription'
[INFO] [launch]: All log files can be found below /home/henning/.ros/log/2020-07-22-20-13-45-824339-henning-tp480s-26040
[INFO] [launch]: Default logging verbosity is set to DEBUG
[DEBUG] [launch]: processing event: '<launch.events.include_launch_description.IncludeLaunchDescription object at 0x7f0a2a4a5470>'
[DEBUG] [launch]: processing event: '<launch.events.include_launch_description.IncludeLaunchDescription object at 0x7f0a2a4a5470>' ✓ '<launch.event_handlers.on_include_launch_description.OnIncludeLaunchDescription object at 0x7f0a200a55f8>'
[DEBUG] [launch]: processing event: '<launch.events.include_launch_description.IncludeLaunchDescription object at 0x7f0a1c1960b8>'
[DEBUG] [launch]: processing event: '<launch.events.include_launch_description.IncludeLaunchDescription object at 0x7f0a1c1960b8>' ✓ '<launch.event_handlers.on_include_launch_description.OnIncludeLaunchDescription object at 0x7f0a200a55f8>'
/home/henning/ros2/moveit2/install/run_moveit_cpp/share/run_moveit_cpp/launch/run_moveit_cpp.launch.py:23: YAMLLoadWarning: calling yaml.load() without Loader=... is deprecated, as the default Loader is unsafe. Please read https://msg.pyyaml.org/load for full details.
  return yaml.load(file)
[DEBUG] [launch]: Traceback (most recent call last):
  File "/opt/ros/eloquent/lib/python3.6/site-packages/launch/launch_description_sources/any_launch_file_utilities.py", line 53, in get_launch_description_from_any_launch_file
    return loader(launch_file_path)
  File "/opt/ros/eloquent/lib/python3.6/site-packages/launch/launch_description_sources/python_launch_file_utilities.py", line 68, in get_launch_description_from_python_launch_file
    return getattr(launch_file_module, 'generate_launch_description')()
  File "/home/henning/ros2/moveit2/install/run_moveit_cpp/share/run_moveit_cpp/launch/run_moveit_cpp.launch.py", line 71, in generate_launch_description
    fake_controller])
  File "/opt/ros/eloquent/lib/python3.6/site-packages/launch_ros/actions/node.py", line 150, in __init__
    normalized_params = normalize_parameters(parameters)
  File "/opt/ros/eloquent/lib/python3.6/site-packages/launch_ros/utilities/normalize_parameters.py", line 181, in normalize_parameters
    normalized_params.append(normalize_parameter_dict(param))
  File "/opt/ros/eloquent/lib/python3.6/site-packages/launch_ros/utilities/normalize_parameters.py", line 146, in normalize_parameter_dict
    sub_dict = normalize_parameter_dict(value, _prefix=name)
  File "/opt/ros/eloquent/lib/python3.6/site-packages/launch_ros/utilities/normalize_parameters.py", line 160, in normalize_parameter_dict
    normalized[tuple(name)] = _normalize_parameter_array_value(value)
  File "/opt/ros/eloquent/lib/python3.6/site-packages/launch_ros/utilities/normalize_parameters.py", line 69, in _normalize_parameter_array_value
    raise RuntimeError('Failed to handle type {}'.format(repr(subvalue)))
RuntimeError: Failed to handle type {'name': 'fake_panda_arm_controller', 'joints': ['panda_joint1', 'panda_joint2', 'panda_joint3', 'panda_joint4', 'panda_joint5', 'panda_joint6', 'panda_joint7']}

The above exception was the direct cause of the following exception:

Traceback (most recent call last):
  File "/opt/ros/eloquent/lib/python3.6/site-packages/launch/launch_service.py", line 385, in run_async
    await process_one_event_task
  File "/usr/lib/python3.6/asyncio/coroutines.py", line 126, in send
    return self.gen.send(value)
  File "/opt/ros/eloquent/lib/python3.6/site-packages/launch/launch_service.py", line 295, in _process_one_event
    await self.__process_event(next_event)
  File "/usr/lib/python3.6/asyncio/coroutines.py", line 110, in __next__
    return self.gen.send(None)
  File "/opt/ros/eloquent/lib/python3.6/site-packages/launch/launch_service.py", line 315, in __process_event
    visit_all_entities_and_collect_futures(entity, self.__context))
  File "/opt/ros/eloquent/lib/python3.6/site-packages/launch/utilities/visit_all_entities_and_collect_futures_impl.py", line 45, in visit_all_entities_and_collect_futures
    futures_to_return += visit_all_entities_and_collect_futures(sub_entity, context)
  File "/opt/ros/eloquent/lib/python3.6/site-packages/launch/utilities/visit_all_entities_and_collect_futures_impl.py", line 45, in visit_all_entities_and_collect_futures
    futures_to_return += visit_all_entities_and_collect_futures(sub_entity, context)
  File "/opt/ros/eloquent/lib/python3.6/site-packages/launch/utilities/visit_all_entities_and_collect_futures_impl.py", line 38, in visit_all_entities_and_collect_futures
    sub_entities = entity.visit(context)
  File "/opt/ros/eloquent/lib/python3.6/site-packages/launch/action.py", line 108, in visit
    return self.execute(context)
  File "/opt/ros/eloquent/lib/python3.6/site-packages/launch/actions/include_launch_description.py", line 125, in execute
    launch_description = self.__launch_description_source.get_launch_description(context)
  File "/opt/ros/eloquent/lib/python3.6/site-packages/launch/launch_description_source.py", line 84, in get_launch_description
    self._get_launch_description(self.__expanded_location)
  File "/opt/ros/eloquent/lib/python3.6/site-packages/launch/launch_description_sources/any_launch_description_source.py", line 53, in _get_launch_description
    return get_launch_description_from_any_launch_file(location)
  File "/opt/ros/eloquent/lib/python3.6/site-packages/launch/launch_description_sources/any_launch_file_utilities.py", line 56, in get_launch_description_from_any_launch_file
    raise InvalidLaunchFileError(extension, likely_errors=exceptions)
launch.invalid_launch_file_error.InvalidLaunchFileError: Caught exception when trying to load file of format [py]: Failed to handle type {'name': 'fake_panda_arm_controller', 'joints': ['panda_joint1', 'panda_joint2', 'panda_joint3', 'panda_joint4', 'panda_joint5', 'panda_joint6', 'panda_joint7']}

[ERROR] [launch]: Caught exception in launch (see debug for traceback): Caught exception when trying to load file of format [py]: Failed to handle type {'name': 'fake_panda_arm_controller', 'joints': ['panda_joint1', 'panda_joint2', 'panda_joint3', 'panda_joint4', 'panda_joint5', 'panda_joint6', 'panda_joint7']}
[DEBUG] [launch.launch_context]: emitting event: 'launch.events.Shutdown'
[DEBUG] [launch]: processing event: '<launch.events.shutdown.Shutdown object at 0x7f0a286f9780>'
[DEBUG] [launch]: processing event: '<launch.events.shutdown.Shutdown object at 0x7f0a286f9780>' ✓ '<launch.event_handlers.on_shutdown.OnShutdown object at 0x7f0a1af1c518>'
[DEBUG] [launch]: processing event: '<launch.events.shutdown.Shutdown object at 0x7f0a286f9780>' ✓ '<launch.event_handlers.on_shutdown.OnShutdown object at 0x7f0a286e7748>'
Executing <Task finished coro=<LaunchService._process_one_event() done, defined at /opt/ros/eloquent/lib/python3.6/site-packages/launch/launch_service.py:293> result=None created at /opt/ros/eloquent/lib/python3.6/site-packages/launch/launch_service.py:363> took 0.951 seconds

JafarAbdi · 2020-07-23T12:20:42Z

When I try to run this I get the following exception:
...

Hmm, I just tested it again and it working on my case, I'll try to clean my workspace and try again

EDIT: I tested it after removing build/install directories and it's working

JafarAbdi · 2020-08-05T17:06:01Z

This PR should be merge after we use foxy for the main branch -- it depends on https://github.com/JafarAbdi/fake_joint/tree/foxy and moveit/moveit_resources#38 and uses the master branch of https://github.com/ros-controls/ros2_controllers/

henningkayser · 2020-08-11T15:21:58Z

Github didn't get Travis results, but build succeeded without issues (https://travis-ci.com/github/ros-planning/moveit2/jobs/370735189). Merging by hand.

JafarAbdi requested a review from henningkayser July 9, 2020 15:44

henningkayser reviewed Jul 19, 2020

View reviewed changes

JafarAbdi mentioned this pull request Aug 5, 2020

Add ready + open group_states moveit/moveit_resources#38

Closed

JafarAbdi and others added 15 commits August 11, 2020 16:35

Use MoveIt fake controller for the demo

e752ca4

Remove waiting for active controllers

fe06764

Use node to get current time

bfe4b32

clang-format using 3.9

ba7a8c5

Remove zeros and use inital_pose

fc87284

Fix inital group_state lookup

064d0e7

Add fake_controller_joint_states as source_list

1ba3eed

Create seperate launch file for fake_controller

cbead47

Update controller

7ff29c4

Use MoveIt simple controller

2bbfe40

Add fake_controller yaml to demo's config file

5be67db

Enable PlanningSceneService in run_moveit_cpp

93a70a4

Use robot_state_publisher for TF

526076f

Update run_moveit_cpp.repos

603cb3b

Update demo description

01a7e5c

henningkayser force-pushed the pr-enable_fake_execution branch from dc04299 to 01a7e5c Compare August 11, 2020 14:57

henningkayser approved these changes Aug 11, 2020

View reviewed changes

henningkayser merged commit aca0e6e into moveit:master Aug 11, 2020

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Use MoveIt fake controller for the demo #231

Use MoveIt fake controller for the demo #231

JafarAbdi commented Jul 9, 2020

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henningkayser commented Aug 11, 2020

Use MoveIt fake controller for the demo #231

Use MoveIt fake controller for the demo #231

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JafarAbdi commented Jul 9, 2020

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henningkayser commented Jul 22, 2020

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