Pick plan tutorial by Ridhwanluthra · Pull Request #182 · moveit/moveit_tutorials

Ridhwanluthra · 2018-06-19T11:46:04Z

No description provided.

…t_tutorials into pick_plan_tutorial

mlautman · 2018-06-19T17:21:25Z

Include descriptions with your PR's

davetcoleman

This is such an awesome tutorial, thanks!

davetcoleman · 2018-06-19T17:33:56Z

+Pick and Place Tutorial
+============================
+
+In MoveIt!, grasping is done using the move group interface. In order to grasp an object we need to create ``moveit_msgs::Grasp`` msg which will allow defining the various poses and postures involved in a grasping operation.


move group -> MoveGroup

davetcoleman · 2018-06-19T17:34:07Z

+
+    <div style="position: relative; padding-bottom: 5%; height: 0; overflow: hidden; max-width: 100%; height: auto;">
+        <iframe width="700px" height="400px" src="https://www.youtube.com/embed/cHxkQwSyrgY?rel=0" frameborder="0" allow="autoplay; encrypted-media" allowfullscreen></iframe>
+    </div>


davetcoleman · 2018-06-19T17:34:20Z

+
+Running The Demo
+----------------
+Open two shells. In the first shell start RViz and wait for everything to finish loading: ::


shells -> terminals?

davetcoleman · 2018-06-19T17:35:11Z

- *  POSSIBILITY OF SUCH DAMAGE.
- *********************************************************************/
-
-/* Author: Ioan Sucan */


You must keep the BSD license! Add your name next to Ioan

mlautman

This is really good! I'm excited about this

mlautman · 2018-06-19T17:22:34Z

+
+.. raw:: html
+
+    <div style="position: relative; padding-bottom: 5%; height: 0; overflow: hidden; max-width: 100%; height: auto;">


mlautman · 2018-06-19T17:23:51Z

+
+In the second shell run the pick and place tutorial: ::
+
+    rosrun moveit_tutorials pick_place_tutotrial


You need a roslaunch for this

i had initially created a launch but the problem is that we need to wait for everything to load before running this node.
So this seemed better than a hacky launch

mlautman · 2018-06-19T17:31:57Z

@@ -1,244 +1,215 @@
-/*********************************************************************


Why did you delete this?

mlautman · 2018-06-19T17:33:23Z

-  co.primitive_poses[0].position.y = -0.7;
-  co.primitive_poses[0].position.z = 0.5;
-  pub_co.publish(co);
+  // BEGIN_SUB_TUTORIAL table1


This should be in it's own method not main

mlautman · 2018-06-19T17:34:49Z

+
+  collision_objects[0].operation = collision_objects[0].ADD;
+
+  // BEGIN_SUB_TUTORIAL table2


Separate method

Are you suggesting that the collision objects addition to be done in separate functions?

mlautman · 2018-06-19T17:35:05Z

   doc/visualizing_collisions/visualizing_collisions_tutorial
   doc/time_parameterization/time_parameterization_tutorial
   doc/planning_with_approximated_constraint_manifolds/planning_with_approximated_constraint_manifolds_tutorial
+   doc/pick_place/pick_place_tutorial


This makes me really happy :)

mlautman · 2018-06-19T17:36:13Z

+  // END_SUB_TUTORIAL
 }

 void place(moveit::planning_interface::MoveGroupInterface& group)


When I run locally place fails with "All supplied place locations failed. Retrying last location in verbose mode."

It happens here also rarely. I am guessing its because there is only one grasp given and it only tries to plan once.

Add a comment that the "All supplied place locations failed. Retrying last location in verbose mode." error is a known issue with a TODO to fix.

Would generating multiple grasps fix this?

mlautman · 2018-06-19T17:39:31Z

+
+Understanding ``moveit_msgs::Grasp``
+------------------------------------
+For complete documentation refer to `this. <http://docs.ros.org/kinetic/api/moveit_msgs/html/msg/Grasp.html>`_


Replace this with moveit_msgs/Grasp.msg

mlautman · 2018-06-19T17:41:21Z

+  // Setting the grasp pose
+  grasps[0].grasp_pose.header.frame_id = "panda_link0";
+  grasps[0].grasp_pose.pose.orientation =
+      tf::createQuaternionMsgFromRollPitchYaw(-1.5707963267948966, -0.7853981633974483, -1.5707963267948966);


use M_PI from math.h

mlautman · 2018-06-19T17:41:38Z

+  grasps[0].grasp_pose.pose.orientation =
+      tf::createQuaternionMsgFromRollPitchYaw(-1.5707963267948966, -0.7853981633974483, -1.5707963267948966);
+  // This is the pose of panda_link8.
+  // From panda_link8 to the palm of the eef the distance is 0.058, the cube starts 0.01 before 5.0 (half of the length


Great comments!

feroze · 2018-06-20T13:22:59Z

+
+  // Setting the place location pose.
+  loc[0].place_pose.header.frame_id = "panda_link0";
+  loc[0].place_pose.pose.orientation = tf::createQuaternionMsgFromRollPitchYaw(0, 0, 1.5707963267948966);


M_PI from math here too

feroze · 2018-06-20T13:25:03Z

+
+  // Setting the pre_place_approach with direction as -ve z-axis.
+  loc[0].pre_place_approach.direction.vector.z = -1.0;
+  loc[0].pre_place_approach.direction.header.frame_id = "panda_link0";


Should frame_id be moved to one line above to keep it consistent with others?

mlautman · 2018-06-25T17:21:31Z

@Ridhwanluthra Ping us when this is ready for another review

…tutorial

* making sections for better explaination * using M_PI * separate function for adding collision objects * using /**/ comments to not break flow * other minor fixes

Ridhwanluthra · 2018-07-05T08:13:31Z

@mlautman could you please review this again.

mlautman · 2018-07-05T16:59:04Z

+  /* This is the pose of panda_link8. */
+  /* From panda_link8 to the palm of the eef the distance is 0.058, the cube starts 0.01 before 5.0 (half of the length */
+  /* of the cube). */
+  /* Therfore, the posotion for panda_link8 = 5 - (length of cube/2 - distance b/w panda_link8 and palm of eef - some */


position

You should use a spell checker to catch typos like this.

mlautman · 2018-07-05T17:02:22Z

+  // END_SUB_TUTORIAL
 }

 void place(moveit::planning_interface::MoveGroupInterface& group)


Add a comment that the "All supplied place locations failed. Retrying last location in verbose mode." error is a known issue with a TODO to fix.

mlautman

+1 after addressing my two additional comments

Great job!

mlautman · 2018-07-11T22:16:57Z

 // ^^^^^^^^^^^^^^
 // CALL_SUB_TUTORIAL place
-// END_TUTORIAL
+// END_TUTORIAL


davetcoleman · 2018-07-11T22:24:55Z

+  /* of the cube). */
+  /* Therefore, the position for panda_link8 = 5 - (length of cube/2 - distance b/w panda_link8 and palm of eef - some
+   */
+  /* extra padding) */


these comments have weird line breaks. please cleanup and consider just using //

davetcoleman · 2018-07-11T22:25:33Z

 void place(moveit::planning_interface::MoveGroupInterface& group)
 {
+  // BEGIN_SUB_TUTORIAL place
+  // Note(TODO) - Calling place function may lead to "All supplied place locations failed. Retrying last location in


todo format is:

// TODO(githubname): blah...

per GStyle C++

davetcoleman · 2018-07-11T22:25:55Z

+  // Note(TODO) - Calling place function may lead to "All supplied place locations failed. Retrying last location in
+  // verbose mode." This is a known issue and we are working on fixing it.
+  // Create a vector of placings to be attempted, currently only creating single place location.
  std::vector<moveit_msgs::PlaceLocation> loc;


better var name: loc -> "place_location"

davetcoleman · 2018-07-11T22:26:13Z

+
+  // Setting posture of eef after placing object
+  // +++++++++++++++++++++++++++++++++++++++++++
+  /* similar to the pick case */


davetcoleman · 2018-07-11T22:26:29Z

+
+  collision_objects[0].operation = collision_objects[0].ADD;
+
+  // BEGIN_SUB_TUTORIAL table2


davetcoleman · 2018-07-11T22:26:50Z

-  // wait a bit for ros things to initialize
+  addCollisionObjects(planning_scene_interface);
+
+  // wait a bit for ROS things to initialize


mlautman · 2018-07-12T19:53:47Z

 The entire code can be seen :codedir:`here <pick_place>` in the moveit_tutorials GitHub project.

-.. tutorial-formatter:: ./src/pick_place_tutorial.cpp
+.. |br| raw:: html


Is this just for a line break? Seems like overkill

I couldn't find a better way to do this and it looks real shabby without it.

mlautman · 2018-07-13T16:40:28Z

Congrats @Ridhwanluthra!

ridhwanluthra added 5 commits June 13, 2018 14:47

A very basic implimentation of pick and place is working

96596c5

Added support surfaces and now we have a sensible looking pipeline

6440c37

streamlining

539d784

Merge branch 'kinetic-devel' of https://github.com/ros-planning/movei…

9afa903

…t_tutorials into pick_plan_tutorial

Built Tutorial for pick_place

1172e26

Ridhwanluthra mentioned this pull request Jun 19, 2018

A PickPlace tutorial #175

Closed

davetcoleman requested changes Jun 19, 2018

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mlautman suggested changes Jun 19, 2018

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feroze reviewed Jun 20, 2018

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ridhwanluthra added 2 commits June 27, 2018 20:08

Merge remote-tracking branch 'upstream/kinetic-devel' into pick_plan_…

07862ad

…tutorial

handling reviews and improving formating

82ad19d

* making sections for better explaination * using M_PI * separate function for adding collision objects * using /**/ comments to not break flow * other minor fixes

mlautman reviewed Jul 5, 2018

View reviewed changes

fixing spelling and adding a note and todo for a known issue

8665f8c

Ridhwanluthra force-pushed the pick_plan_tutorial branch from fc6cad9 to 8665f8c Compare July 11, 2018 21:19

mlautman self-requested a review July 11, 2018 22:15

mlautman approved these changes Jul 11, 2018

View reviewed changes

davetcoleman requested changes Jul 11, 2018

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fixing styling, typos and naming

662440d

mlautman reviewed Jul 12, 2018

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davetcoleman approved these changes Jul 12, 2018

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mlautman merged commit d094fdb into moveit:kinetic-devel Jul 13, 2018

Ridhwanluthra deleted the pick_plan_tutorial branch July 16, 2018 16:06

Ridhwanluthra added a commit to Ridhwanluthra/moveit_tutorials that referenced this pull request Aug 6, 2018

Pick plan tutorial (moveit#182)

9401d53


		.. raw:: html

		<div style="position: relative; padding-bottom: 5%; height: 0; overflow: hidden; max-width: 100%; height: auto;">


		In the second shell run the pick and place tutorial: ::

		rosrun moveit_tutorials pick_place_tutotrial

		@@ -1,244 +1,215 @@
		/*********************************************************************


		collision_objects[0].operation = collision_objects[0].ADD;

		// BEGIN_SUB_TUTORIAL table2

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Ridhwanluthra commented Jun 19, 2018

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Ridhwanluthra Jun 27, 2018 • edited Loading Uh oh! There was an error while loading. Please reload this page.

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mlautman Jul 5, 2018 • edited Loading Uh oh! There was an error while loading. Please reload this page.

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mlautman commented Jun 25, 2018

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mlautman Jul 5, 2018 • edited Loading Uh oh! There was an error while loading. Please reload this page.

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Ridhwanluthra Jun 27, 2018 •

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mlautman Jul 5, 2018 •

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mlautman Jul 5, 2018 •

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