Port moveit_ros_warehouse #273

RoboticsYY · 2020-09-02T11:24:16Z

Description

This PR intends to port moveit_ros_warehouse to ROS2.

Depends on warehouse_ros PR#48 and warehouse_ros_mongo PR#38.
Run tests:
- ros2 launch run_move_group run_move_group.launch.py
- On Context tab of motion planning rviz panel, click connect button to connect to the mongodb server.
- Please try save robot states or planning scene to the database in their own rviz tabs.

Checklist

Required by CI: Code is auto formatted using clang-format

codecov · 2020-09-02T15:18:38Z

Codecov Report

Merging #273 into main will not change coverage.
The diff coverage is n/a.

@@           Coverage Diff           @@
##             main     #273   +/-   ##
=======================================
  Coverage   47.64%   47.64%           
=======================================
  Files         154      154           
  Lines       14844    14844           
=======================================
  Hits         7073     7073           
  Misses       7771     7771

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mikeferguson · 2020-09-03T04:22:15Z

moveit_ros/warehouse/warehouse/CMakeLists.txt

-  ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
-  RUNTIME DESTINATION ${CATKIN_GLOBAL_BIN_DESTINATION}
+  TARGETS ${MOVEIT_LIB_NAME}
+  EXPORT ${MOVEIT_LIB_NAME}


based on this page - https://index.ros.org/doc/ros2/Tutorials/Ament-CMake-Documentation -- I think you are supposed to use "export_${MOVEIT_LIB_NAME}"

Yes, the export prefix is necessary. This has been corrected. Thanks for pointing out!

mikeferguson · 2020-09-03T04:24:21Z

moveit_ros/warehouse/warehouse/src/broadcast.cpp

-  ros::AsyncSpinner spinner(1);
-  spinner.start();
+  rclcpp::executors::StaticSingleThreadedExecutor executor;
+  executor.add_node(node);


so - just a note - this changes the threading behavior from ROS1 - there would be 2 threads in ROS1, not sure if this leads to any blocking/deadlock at runtime.

mikeferguson · 2020-09-03T04:26:10Z

moveit_ros/warehouse/warehouse/src/import_from_text.cpp

+  rclcpp::init(argc, argv);
+  rclcpp::NodeOptions node_options;
+  node_options.allow_undeclared_parameters(true);
+  node_options.automatically_declare_parameters_from_overrides(true);


long term, it would be good to move away from needing this - the introspection of parameters is very useful.

henningkayser · 2020-10-15T09:52:37Z

@lilustga This adds a dependency to https://github.com/ros-planning/warehouse_ros/tree/ros2. Could you check if this works on Windows, or how we could fix this? Exporting moveit_common is probably not an option. We could temporarily comment warehouse features from Windows build to not break support.

moveit_ros/visualization/motion_planning_rviz_plugin/src/motion_planning_frame.cpp

moveit2.repos

moveit_ros/warehouse/CMakeLists.txt

sjahr

The test worked for me, thank you.

moveit_ros/visualization/motion_planning_rviz_plugin/src/motion_planning_frame.cpp

moveit_ros/visualization/motion_planning_rviz_plugin/src/motion_planning_frame_context.cpp

moveit_ros/visualization/motion_planning_rviz_plugin/src/motion_planning_frame_objects.cpp

moveit_ros/visualization/motion_planning_rviz_plugin/src/motion_planning_frame_states.cpp

moveit2.repos

Co-authored-by: Tyler Weaver <squirrel428@protonmail.com> Co-authored-by: Jack <jack.center@picknik.ai> Co-authored-by: Cassidy Elliott <cassidy@picknik.ai> Co-authored-by: Mike Lautman <mikeblautman@gmail.com>

RoboticsYY force-pushed the pr-moveit_ros_warehouse branch 2 times, most recently from e1beb14 to cc982c0 Compare September 2, 2020 14:21

mikeferguson reviewed Sep 3, 2020

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henningkayser changed the base branch from master to main September 4, 2020 12:38

RoboticsYY force-pushed the pr-moveit_ros_warehouse branch 4 times, most recently from a5090ba to 234131e Compare September 24, 2020 00:26

RoboticsYY force-pushed the pr-moveit_ros_warehouse branch 3 times, most recently from f928711 to 8491891 Compare October 14, 2020 13:25

RoboticsYY changed the title ~~[WIP] Port moveit_ros_warehouse~~ Port moveit_ros_warehouse Oct 14, 2020

henningkayser reviewed Oct 15, 2020

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moveit_ros/visualization/motion_planning_rviz_plugin/src/motion_planning_frame.cpp Outdated Show resolved Hide resolved

moveit2.repos Outdated Show resolved Hide resolved

moveit_ros/warehouse/CMakeLists.txt Outdated Show resolved Hide resolved

sjahr requested changes Oct 15, 2020

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RoboticsYY force-pushed the pr-moveit_ros_warehouse branch 2 times, most recently from 1bd7905 to f7fb724 Compare October 21, 2020 09:35

RoboticsYY added 12 commits October 21, 2020 17:46

Port moveit_ros_warehouse package xml file to ROS2

5dd8695

Port moveit_ros_warehouse cmake files to ROS2

d57a67c

Port warehouse_services.cpp to ROS2

b2c4d4d

Port warehouse_connector.cpp to ROS2

b4b98e3

Port save_to_warehouse.cpp to ROS2

1625c7f

Port save_as_text.cpp to ROS2

b3debbc

Port initialize_demo_db.cpp to ROS2

e73f6d9

Port import_from_text.cpp to ROS2

87d5d89

Port broadcast.cpp to ROS2

1c693f7

Port constraints_storage.cpp to ROS2

cc397fd

Port planning_scene_world_storage.cpp to ROS2

479b77c

Port state_storage.cpp to ROS2

d07dda3

RoboticsYY added 18 commits October 21, 2020 17:46

Port trajectory_constraints_storage.cpp to ROS2

5121f60

Port import_from_text.cpp to ROS2

f7f212b

Port planning_scene_storage.cpp to ROS2

b70a0a2

Port moveit_message_storage.h to ROS2

0325819

Port moveit_message_storage.cpp to ROS2

3cf4d32

Add warehouse_ros to moveit2.repos

24be789

Port warehouse part of ros_visualization CMake files

dc20294

Port warehouse part of ros_visualization package.xml file

fc09c3d

Port warehouse part of motion_planning_frame.cpp

565d8d7

Port warehouse part of motion_planning_frame.h

f320b52

Port warehouse part of motion_planning_frame_context.cpp

817c059

Port warehouse part of motion_planning_frame_objects.cpp

e68ddfe

Port warehouse part of motion_planning_frame_scenes.cpp

a5f69e7

Port warehouse part of motion_planning_frame_states.cpp

91d192d

Enable warehouse in run_move_group launch

133b2a8

Add warehouse_ros_mongo to moveit2.repos

436d976

Use moveit_common package to moveit_ros_warehouse

c5fe648

Remove unnecessary comments

275c0ee

RoboticsYY force-pushed the pr-moveit_ros_warehouse branch from f7fb724 to 275c0ee Compare October 21, 2020 09:49

Switch to upstream warehouse_ros_mongo

aa4dd7d

henningkayser approved these changes Oct 21, 2020

View reviewed changes

henningkayser merged commit 7dba4db into ros-planning:main Oct 21, 2020

RoboticsYY deleted the pr-moveit_ros_warehouse branch November 11, 2020 02:06

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Port moveit_ros_warehouse #273

Port moveit_ros_warehouse #273

RoboticsYY commented Sep 2, 2020 •

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codecov bot commented Sep 2, 2020 •

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mikeferguson Sep 3, 2020

RoboticsYY Sep 23, 2020

mikeferguson Sep 3, 2020

mikeferguson Sep 3, 2020

henningkayser commented Oct 15, 2020 •

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Port moveit_ros_warehouse #273

Port moveit_ros_warehouse #273

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RoboticsYY commented Sep 2, 2020 • edited

Description

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codecov bot commented Sep 2, 2020 • edited

Codecov Report

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