Add demo package for tutorial by simonGoldstein · Pull Request #104 · moveit/moveit_task_constructor

simonGoldstein · 2019-07-22T19:31:45Z

Moveit Task constructor needs a tutorial. This adds the package moveit_task_constructor_demo which contains a short pick and place example. The goal is to add a new tutorial to the tutorials. This should be added to the moveit_task_constructor repo to keep it consistent with other demos like moveit_grasps.

roslaunch moveit_task_constructor_demo demo.launch

simonGoldstein · 2019-08-05T22:48:16Z

I am working on addressing all the feedback. I have currently added the children frames and adjusted some parameters but I still need to rename and set better default parameter values

v4hn · 2019-08-09T14:05:00Z

+	const std::string object = "object";
+
+	// Reset ROS introspection before constructing the new object
+	// TODO(henningkayser): verify this is a bug, fix if possible


This is a known problem and we hit it before.
A patch is very welcome, if you have a good idea on how to improve this without too much overhead.

I'm not aware of this problem. What is the problem, i.e. what happens, if introspection is not reset?

We talked about this before @rhaschke .
If you reset a shared-pointer to a task with a new Task you create in the same line,
the new Task (and its introspection) are set up before the destructor of the old one was called.
This becomes a problem because only one ROS service can be active with the same name in the same node and the new one just does not get set up.

Thanks for this clarification. One option to solve the issue in MTC is to use a global cache of those ROS services (and reuse existing ones).
File an issue: #106.

Yes, but then we add static state to the Task and I believe we have avoided it thus far.
Not counting your planner cache which I still plan to remove again.

An alternative would be lazy (or just late) initialization for the ROS interfaces.

I don't consider a cache as static state. Formally, of course, every cache is.
Late initialization will be brittle on timing. Lazy might work, but requires much more work.
Currently, the existence of the introspection pointer also indicates that introspection is desired...

rhaschke

The demo looks good. Thanks a lot for your effort.
However, I suggest to move this code into moveit_tutorials. Why do you want to separate the example code from the rest of the tutorial?
This would also allow to use sub frames, because moveit_tutorials might depend on MoveIt master.

rhaschke · 2019-08-09T17:37:19Z

+	const std::string object = "object";
+
+	// Reset ROS introspection before constructing the new object
+	// TODO(henningkayser): verify this is a bug, fix if possible


I'm not aware of this problem. What is the problem, i.e. what happens, if introspection is not reset?

v4hn · 2019-08-12T10:47:27Z

However, I suggest to move this code into moveit_tutorials. Why do you want to separate the example code from the rest of the tutorial?

If we move it there, we also create a dependency from the tutorials to MTC.
So do you effectively propose to release MTC as-is and maintain the external tutorial when API changes? (which also calls for regular releases)

I would just keep it in this repository for now, as proposed by @simonGoldstein

rhaschke · 2019-08-12T11:36:31Z

If we move it there, we also create a dependency from the tutorials to MTC.
So do you effectively propose to release MTC as-is and maintain the external tutorial when API changes?

This dependency is natural to me: If we do have an MTC tutorial there, there should be a dependency to MTC. We proceed in the same fashion for all other tutorials: If there are changes in MoveIt, we need a separate PR to adapt the tutorials correspondingly.
I remember that we discussed in the past to shift tutorials into the core MoveIt repo as well, but I don't like this idea "just to facilitate" tutorial modifications.

v4hn · 2019-08-12T11:57:17Z

This dependency is natural to me: If we do have an MTC tutorial there, there should be a dependency to MTC.

Yes and No.
I do see your point, but I am afraid we'd end up with turning moveit_tutorials into a demos package, that includes dependencies to every possible piece of software you can integrate with MoveIt.
This would make it rather useless for newcomers who want to build some tutorials from source.
This was probably also the reasoning to keep the moveit_grasp tutorial separate.

Still, having the actual tutorial (the text description, not the source package) in the main moveit_tutorials repository allows to collect many tutorials in one place, even if we don't build them together there.
After all we do not have our own tutorials website (and I don't think it is needed at this point).

rhaschke · 2019-08-12T13:56:02Z

Still, having the actual tutorial in the main repo allows to collect many tutorials in one place.

I don't get what you are suggesting. Which tutorial and repo you are referring to? MTC or MoveIt?

v4hn · 2019-08-12T14:10:26Z

I tried to disambiguate my previous comment.

Co-Authored-By: Henning Kayser <henningkayser@picknik.ai>

* Simplify parameters using rosparam_shortcuts * Remove example with picknik_ur5_moveit_config * Remove "hacky" object poses * Remove unused parameters

henningkayser · 2019-09-10T16:21:01Z

@v4hn, @rhaschke I just cleaned this up (parameters + remove picknik UR5 example), rebased onto master and ran clang-format. Can we make a decision if we merge this here or not? ;) My opinion is that full demos like this should go inside the package and not inside the tutorial, because they're readily available for a quick runtime test. BTW, I'm already working on fixing-up the tutorial.

v4hn · 2019-09-11T09:02:05Z

I just cleaned this up

CI fails though.

Can we make a decision if we merge this here or not?

In my opinion the package (and thus the code dependency) can stay in this repository.
The actual tutorial should still be part of MoveIt's tutorials collection.

henningkayser · 2019-09-18T13:05:56Z

CI fails though.

The remaining errors occur because of changes in the current MoveIt master branch.

rhaschke · 2019-09-30T16:20:44Z

Unfortunately, I was not able to push my cleanup changes here. For this reason, I file them at PickNikRobotics#3. @henningkayser, please have a look and merge them. With those changes, I finally approve.

- fix dependencies - moveit_visual_tools is not actually used - panda_moveit_config is required in a recent version - use more specific lib/binary names

henningkayser · 2019-10-07T20:35:04Z

@rhaschke I merged your changes

Co-Authored-By: Henning Kayser <henningkayser@picknik.ai> Co-Authored-By: Robert Haschke <rhaschke@techfak.uni-bielefeld.de>

progtologist · 2019-10-16T12:14:42Z

+  <depend>moveit_ros_planning_interface</depend>
+  <depend>moveit_core</depend>
+  <depend>rosparam_shortcuts</depend>
+  <exec_depend version_gte="0.7.4">panda_moveit_config</exec_depend>


Is this version actually available anywhere or is this a typo?

No, it's not a typo. But the next release of the package is still pending.
The MTC tutorial requires the latest melodic-devel branch, particularly moveit/panda_moveit_config#34. So, if you want to try the tutorial, just use the latest source branch.

simonGoldstein force-pushed the demo_for_tutorial branch from 74c17b7 to ccf47ce Compare July 22, 2019 19:51

simonGoldstein force-pushed the demo_for_tutorial branch 2 times, most recently from b0531f5 to 4d485fe Compare July 29, 2019 23:23

simonGoldstein changed the title ~~[WIP] Add demo package for tutorial~~ Add demo package for tutorial Aug 1, 2019

simonGoldstein mentioned this pull request Aug 1, 2019

MoveIt Task Constructor [MTC] moveit/moveit_tutorials#371

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2 tasks

henningkayser requested changes Aug 3, 2019

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simonGoldstein force-pushed the demo_for_tutorial branch from 1a92c85 to 6ae5f7f Compare August 6, 2019 17:53

v4hn mentioned this pull request Aug 9, 2019

Package 'mesa-utils' has no installation candidate moveit/moveit_ci#85

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v4hn reviewed Aug 9, 2019

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rhaschke reviewed Aug 9, 2019

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rhaschke mentioned this pull request Aug 12, 2019

cache introspection services #106

Open

simonGoldstein and others added 13 commits September 10, 2019 18:10

Add demo package for tutorial

3fe4f95

Pass Travis

ada11ad

debugging

f7bb6e3

Functioning tutorial

d924bb5

Update demo/README.md

c85d3a5

Co-Authored-By: Henning Kayser <henningkayser@picknik.ai>

Addressed feedback

ef883c6

propper clang formatting

616a7d4

removed subframes to pass travis ci

ec3afd6

parameter method

e236335

remove explicit sleeps

053b5ce

demo.launch: use custom .rviz config

6d69c69

fixup! demo.launch: use custom .rviz config

c42c60c

fixup! parameter method

5ed82dc

rhaschke and others added 3 commits September 10, 2019 18:10

remove (potentially infinite) loop

a1a13d0

Cleanup demo package

08983bc

* Simplify parameters using rosparam_shortcuts * Remove example with picknik_ur5_moveit_config * Remove "hacky" object poses * Remove unused parameters

Clang-format demo package

ac294d5

henningkayser force-pushed the demo_for_tutorial branch from af2ab6a to ac294d5 Compare September 10, 2019 16:15

Add rosparam_shortcuts to .rosinstall

d9626a7

henningkayser force-pushed the demo_for_tutorial branch from 91cd3fc to d9626a7 Compare September 18, 2019 09:09

rhaschke mentioned this pull request Sep 30, 2019

cleanups for demo for tutorial PickNikRobotics/moveit_task_constructor#3

Merged

Cleanup tutorial demo (#3)

2bd2826

- fix dependencies - moveit_visual_tools is not actually used - panda_moveit_config is required in a recent version - use more specific lib/binary names

rhaschke merged commit 36e561a into moveit:master Oct 8, 2019

rhaschke added a commit that referenced this pull request Oct 8, 2019

Demo package for tutorial (#104)

232ef5e

Co-Authored-By: Henning Kayser <henningkayser@picknik.ai> Co-Authored-By: Robert Haschke <rhaschke@techfak.uni-bielefeld.de>

progtologist reviewed Oct 16, 2019

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cpetersmeier mentioned this pull request Mar 9, 2021

documenting instructions for the pick-and-place task #238

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