Perception tutorial update by Ridhwanluthra · Pull Request #178 · moveit/moveit_tutorials

Ridhwanluthra · 2018-06-05T09:54:27Z

I have added tutorials for obstacle avoidance and how to use a preprocessed pointcloud with moveit's perception pipeline.
@v4hn @mlautman @feroze

v4hn · 2018-06-06T15:05:31Z

+You should now see something like this:
+
+.. image:: preprocess_3d_demo.png
+   :width: 700px


This is not good enough.
The example should leave the point cloud that is used for the octomap as-is and spawn a (finite-length) cylinder CollisionObject that can be used as the object model to grasp.

mlautman

This is a good start. Great job!

This needs significant cleanup before we can review it for content. Ping me when it's ready for another pass.

mlautman · 2018-06-06T15:49:01Z

+
+If you set the initial and the final location of the robot in a way that there is no straight path between them, then the planner will automatically avoid the octomap and plan around it.
+
+.. image:: obstacle_avoidance.gif


This gif is unnecessary and distracts from the tutorial itself. Please remove

based on the discussion I have removed the text

mlautman · 2018-06-06T23:01:50Z

+   :width: 700px
+
+Getting Started
+===============


See above. Please match syntax to other tutorials for consistency

mlautman · 2018-06-07T01:47:13Z

 add_subdirectory(doc/state_display)
 add_subdirectory(doc/interactivity)
 add_subdirectory(doc/pick_place)
+add_subdirectory(doc/perception_configuration)


Please rename directory perception_pipeline to match the name of the tutorial itself

mlautman · 2018-06-07T01:48:49Z

-=================================
+#################################
+Perception Pipeline Tutorial
+#################################


Please use the same hierarchy for headers as in every other tutorial. This should be ===== to match other tutorials. All section titles below should be adjusted appropriately. I added notes for most of them but be sure to check the rest of your changes to ensure consistency

mlautman · 2018-06-07T01:49:26Z

+If you haven't already done so, make sure you've completed the steps in `Getting Started <../getting_started/getting_started.html>`_.
+
+Configuration
+=============


See above. Please match syntax to other tutorials for consistency

mlautman · 2018-06-07T02:09:57Z

+  seg.setMethodType(pcl::SAC_RANSAC);
+  seg.setNormalDistanceWeight(0.1);
+  seg.setMaxIterations(10000);
+  seg.setDistanceThreshold(0.05);


Add comments when using magic numbers

mlautman · 2018-06-07T02:10:04Z

+  seg.setNormalDistanceWeight(0.1);
+  seg.setMaxIterations(10000);
+  seg.setDistanceThreshold(0.05);
+  seg.setRadiusLimits(0, 1);


Add comments when using magic numbers

mlautman · 2018-06-07T02:10:16Z

+  pcl::PointCloud<pcl::PointXYZRGB>::Ptr cloud_cylinder(new pcl::PointCloud<pcl::PointXYZRGB>());
+  extract.filter(*cloud_cylinder);
+  if (cloud_cylinder->points.empty())
+    std::cerr << "Can't find the cylindrical component." << std::endl;


mlautman · 2018-06-07T02:10:23Z

+    std::cerr << "Can't find the cylindrical component." << std::endl;
+  else
+  {
+    std::cerr << "PointCloud representing the cylindrical component: " << cloud_cylinder->points.size()


mlautman · 2018-06-07T02:11:24Z

+---------------
+In addition to the steps given in `Getting Started <../getting_started/getting_started.html>`_, you will also need to install the ``perception_pcl`` package: ::
+
+ sudo apt install ros-kinetic-perception-pcl


Add new dependencies to package.xml

mlautman · 2018-06-07T02:16:31Z

+
+ sudo apt install ros-kinetic-perception-pcl
+
+Running the Code


In general we've been standardizing to a show then tell model. ie. Demo's first then, explanations second

need to update the preprocessing section, will update this with that

Is this solved?

The other tutorials put the launch commands for running the demo at the beginning of the tutorial then they go through the steps for integrating this with their custom robot_moveit_config package. It would be great if you made the necessary changes to ros-planning/panda_moveit_config so that this can be run out of the box with a few commands at the start of the tutorial.

davetcoleman · 2018-06-07T14:37:31Z

I'm excited about this!

…lated to preprocessing

Ridhwanluthra · 2018-06-09T09:47:43Z

Here the build fail is because of this link
https://github.com/ros-planning/moveit_tutorials/blob/kinetic-devel/doc/perception_pipeline/perception_pipeline_tutorial.rst

Here the kinetic-devel doesnt contain the perpection pipeline name change and this link should work once merged.

Ridhwanluthra · 2018-06-11T04:25:53Z

+  // ModelCoefficients will hold the parameters using which we can define a cylinder of infinite length. 
+  // It has a public attribute values of type std::vector< float >. 
+  // values[0-2] hold a point on the center line of the cylinder. 
+  // values[3-5] hold direction vector of the z-axis. 


@mlautman I want to write these to be shown as separate lines in the html. how can that be done?

Found a workaround for this using raw tags, I hope that is ok

Ridhwanluthra · 2018-06-11T08:44:19Z

      // radius of cylinder
      cylinder_params.push_back(coefficients_cylinder->values[6]);
      // i,j,k values of the direction vector of z-axis
      cylinder_params.push_back(coefficients_cylinder->values[3]);


I don't want to include these lines in the tutorial, is there a way to do that?

The best way to do this would be to use BEGIN_SUB_TUTORIAL and END_SUB_TUTORIAL to include things you want and exclude things you don't. Check out the Python MoveGroup tutorial for an aggressive example of this method.

mlautman

This is going in the right direction. Ping me when these changes are made for another pass

mlautman · 2018-06-11T16:40:36Z


-  <node pkg="rosbag" type="play" name="point_clouds" args="--clock -k $(find moveit_tutorials)/doc/perception_configuration/bags/2018-05-28-07-49-11.bag" />
+  <node pkg="rosbag" type="play" name="point_clouds" args="--clock -k $(find moveit_tutorials)/doc/perception_pipeline/bags/2018-05-28-07-49-11.bag" />
+  <!-- <node pkg="moveit_tutorials" type="add_object" name="adding" /> -->


Please remove commented out code. If it needs to be here for some reason, add a comment explaining why

mlautman · 2018-06-11T16:40:52Z

  <node pkg="tf" type="static_transform_publisher" name="to_panda_base" args="0 0 0 0 0.2 1.92 camera_rgb_optical_frame temp_link 100" />

-  <node pkg="rosbag" type="play" name="point_clouds" args="--clock -k $(find moveit_tutorials)/doc/perception_configuration/bags/2018-05-28-07-49-11.bag" />
+  <node pkg="rosbag" type="play" name="point_clouds" args="--clock -k $(find moveit_tutorials)/doc/perception_pipeline/bags/2018-05-28-07-49-11.bag" />


Add comment

mlautman · 2018-06-11T16:41:04Z

    <arg name="debug" value="$(arg debug)"/>
  </include>

+  <node pkg="moveit_tutorials" type="cylinder_segment" name="point_cloud_preprocessor" />


Add comment

mlautman · 2018-06-11T16:47:59Z

+  box_pose.orientation.z = axis.z() * sin(angle / 2);
+  box_pose.orientation.w = cos(angle / 2);
+
+  box_pose.position.x = cylinder_params->at(4);


No good reason to use ->at() here. Might as well just reference the index directly. See above comment about passing in a struct rather than a vector.

mlautman · 2018-06-11T16:48:00Z

+#include <moveit_msgs/CollisionObject.h>

-void cloud_cb(const sensor_msgs::PointCloud2ConstPtr& input)
+void add_object(std::vector<double>* cylinder_params)


Rename function something like add_cylinder

Also, it is generally bad practice to pass in a vector as the container for some list of inputs. You should create a struct and pass that in.

mlautman · 2018-06-11T17:02:09Z

+  extract.filter(*cloud);
+}
+
+void cloud_cb(const sensor_msgs::PointCloud2ConstPtr& input)


much better! Now add a comment for the callback :)

mlautman · 2018-06-11T17:02:54Z

+  extractCylinder(cloud, coefficients_cylinder, cloud_normals);
+  if (cloud->points.empty())
+  {
    ROS_ERROR_STREAM("Can't find the cylindrical component.");


return here

mlautman · 2018-06-11T17:03:06Z

+  {
    ROS_ERROR_STREAM("Can't find the cylindrical component.");
+  }
  else


No need for else if you return above

mlautman · 2018-06-11T17:18:09Z

      // radius of cylinder
      cylinder_params.push_back(coefficients_cylinder->values[6]);
      // i,j,k values of the direction vector of z-axis
      cylinder_params.push_back(coefficients_cylinder->values[3]);


The best way to do this would be to use BEGIN_SUB_TUTORIAL and END_SUB_TUTORIAL to include things you want and exclude things you don't. Check out the Python MoveGroup tutorial for an aggressive example of this method.

mlautman · 2018-06-11T17:18:15Z

+      cylinder_params.push_back(coefficients_cylinder->values[4]);
+      cylinder_params.push_back(coefficients_cylinder->values[5]);
+      get_coords(cloud, &cylinder_params);
+      // for (auto i: cylinder_params)


mlautman · 2018-06-11T17:22:37Z

@Ridhwanluthra This PR is getting really big. Let's get these changes fixed up and merged in before adding new features/content to the tutorial.

used workaround for new line and code formatting in the tutorial-formatter

…_tutorial_update

* passing struct instead of vector to funcs * variable names improved * comments explaining functions added * other minor fixes

Ridhwanluthra · 2018-06-12T15:10:54Z

@mlautman I think I have handled all the reviews and comments. Could you please give it another pass and see if there is anything else that needs to be done

Ridhwanluthra · 2018-06-12T15:16:46Z

Where should the bag file be maintained? It is too large to be uploaded on git. Its around 2GB.

mlautman · 2018-06-12T16:58:31Z

I'll take a look in the next few days. Regarding the bag file, check out https://git-lfs.github.com/ and see if you can't get that setup.

Ridhwanluthra · 2018-06-12T17:25:21Z

I had set that up but had to remove it as it only works for enterprises and is not available for public repos

mlautman

This is really good! So close.

I feel bad that this is taking so long to get merged but there are still a few things that have to get fixed before then. The biggest blocker is that you will need to make the necessary changes to ros-planning/panda_moveit_config so that these demo's can be run out of the box. Other than that, we need to be a little more specific on the instructions so that someone who is a complete noob can get through the tutorial with their custom robot_moveit_config. Once these two issues and some minor changes are made this should be good to go!

Ping me when you've made the suggested changes and after one more pass we should be good to merge!

mlautman · 2018-06-18T22:39:07Z

@@ -0,0 +1,56 @@
+<launch>


This seems rather redundant. Is there a reason you didn't <include> demo.launch and add the additional nodes specific to this demo?

I guess I started testing that way and didnt change

Please refactor when you get a chance

Ya did that

mlautman · 2018-06-18T22:39:56Z

@@ -0,0 +1,53 @@
+<launch>
+  <param name ="/use_sim_time" value="true"/>


Same as above. At minimum the common elements should be refactored into a common launch file that is included by each of these two scripts.

mlautman · 2018-06-18T22:44:12Z

+// There are 4 fields and a total of 7 parameters used to define this.
+struct add_cylinder_params
+{
+  // Radius of the cylinder.


Nit pick: If you use /* comment */ instead of // comment for minor comments like these the auto-generated tutorial tends to look a little better

This is much better

mlautman · 2018-06-18T22:47:02Z

    moveit_ros_planning_interface
    pluginlib
    geometric_shapes
+    pcl_ros


@v4hn Is adding this dependency going to be an issue?

mlautman · 2018-06-18T23:22:20Z

+  <node pkg="tf" type="static_transform_publisher" name="to_panda_base" args="0 0 0 0 0.2 1.92 camera_rgb_optical_frame temp_link 100" />
+
+  <!-- Play the rosbag that contains the pointcloud data -->
+  <node pkg="rosbag" type="play" name="point_clouds" args="--clock -k $(find moveit_tutorials)/doc/perception_pipeline/bags/2018-05-28-07-49-11.bag" />


I just created a S3 account for hosting this. If you send me this and other large files I can give you permalinks so that users can download them.

mlautman · 2018-06-18T23:52:27Z

+  segmentor.setOptimizeCoefficients(true);
+  segmentor.setModelType(pcl::SACMODEL_PLANE);
+  segmentor.setMethodType(pcl::SAC_RANSAC);
+  // run at max 1000 iterations before giving up


mlautman · 2018-06-18T23:52:33Z

+  segmentor.setMethodType(pcl::SAC_RANSAC);
+  // run at max 1000 iterations before giving up
+  segmentor.setMaxIterations(1000);
+  // tolerence for variation from model


mlautman · 2018-06-18T23:52:41Z

+  // tolerence for variation from model
+  segmentor.setDistanceThreshold(0.01);
+  segmentor.setInputCloud(cloud);
+  // Create the segmentation object for the planar model and set all the parameters


mlautman · 2018-06-18T23:52:46Z

+  // Create the segmentation object for the planar model and set all the parameters
+  pcl::ModelCoefficients::Ptr coefficients_plane(new pcl::ModelCoefficients);
+  segmentor.segment(*inliers_plane, *coefficients_plane);
+  // Extract the planar inliers from the input cloud


mlautman · 2018-06-18T23:52:51Z

+  pcl::ExtractIndices<pcl::PointXYZRGB> extract_indices;
+  extract_indices.setInputCloud(cloud);
+  extract_indices.setIndices(inliers_plane);
+  // Remove the planar inliers, extract the rest


* /**/ comments * refactor launch * details on config storage and use * better dependency management

mlautman · 2018-06-25T16:55:40Z

I've uploaded the bag to S3.
https://s3.us-east-2.amazonaws.com/picknik-basket/2018-05-28-07-49-11.bag

Please add instructions for downloading to the correct location using wget. (you can assume their workspace is located at ~/ws_moveit

Ridhwanluthra · 2018-07-05T08:21:17Z

@mlautman does it make sense to create an issue for this problem?

Ridhwanluthra · 2018-07-07T18:11:01Z

Also, there is no license in this yet.

mlautman · 2018-07-09T18:28:02Z

@Ridhwanluthra Please add the license. Copy it in from one of the other tutorials

davetcoleman · 2018-07-10T01:57:34Z


 YAML Configuration file (Point Cloud)
-------------------------------------
+++++++++++++++++++++++++++++++++++++


@Ridhwanluthra are you aware of @mohmadAyman's work relating to setting up 3D sensors moveit/moveit#969

Can both of cross-review these PRs to ensure there is no duplicate or contradictory effort? Thanks!

davetcoleman · 2018-07-10T01:58:54Z

+++++++++++++++++++++++++++++++++++++

-We will have to generate a YAML configuration file for configuring the 3D sensors. Please see `this example file <https://github.com/ros-planning/panda_moveit_config/blob/master/config/sensors_kinect_pointcloud.yaml>`_ for processing point clouds, located in the `panda_moveit_config repository for Kinetic <https://github.com/ros-planning/panda_moveit_config>`_: ::
+We will have to generate a YAML configuration file for configuring the 3D sensors. Please see `this example file <https://github.com/ros-planning/panda_moveit_config/blob/master/config/sensors_kinect_pointcloud.yaml>`_ for processing point clouds, located in the `panda_moveit_config repository for Kinetic <https://github.com/ros-planning/panda_moveit_config>`_.


I'd prefer we use the examples that are almost available in the moveit setup assistant:

moveit_setup_assistant/resources/default_config/sensors_3d.yaml

The challenge with including that would be that it won't work out of the box as we can't directly add that.

From a naming stand point, would sensors_3d.yaml be better? as more generalized.

+1 to sensors_3d.yaml for the name

@Ridhwanluthra Ping

As of now it matches the files in panda_moveit_config.
depthmap
pointcloud

Also, If the name is same the user will have to delete 1 ffile and then use it. or if its all included in a single file they will have to comment out one of the plugins. Which would lead to unnecessary confusion for a newcomer.

davetcoleman · 2018-07-10T02:00:14Z

+  ros.moveit_ros_planning.planning_scene_monitor: Transform error: Lookup would require extrapolation into the future.  Requested time 1527473962.793050157 but the latest data is at time 1527473962.776993978, when looking up transform from frame [panda_link2] to frame [camera_rgb_optical_frame]
+  ros.moveit_ros_perception: Transform cache was not updated. Self-filtering may fail.
+
+We are working on fixing it, it should not break the working of the demo.


Is there a Github issue tracking the progress of this problem? Please link to it (and create it if needed)

davetcoleman · 2018-07-10T02:00:48Z

@@ -0,0 +1,46 @@
+#include "ros/ros.h"


add license

davetcoleman · 2018-07-10T02:01:08Z

+int main(int argc, char **argv)
+{
+  ros::init(argc, argv, "bag_publisher_maintain_time");
+  ros::NodeHandle n;


nh preferred, or something even longer

davetcoleman · 2018-07-10T02:05:11Z

+                                       cylinder_params->direction_vec[2]);
+  Eigen::Vector3d origin_z_direction(0., 0., 1.);
+  Eigen::Vector3d axis;
+  double angle;


move inline with angle = ...

davetcoleman · 2018-07-10T02:05:41Z

+
+/** \brief Given the pointcloud containing just the cylinder, compute its center point and its height and store in
+   cylinder_params.
+    @param cloud - Pointcloud containning just the cylinder.


"containing"

davetcoleman · 2018-07-10T02:06:20Z

+  extract.filter(*cloud);
+}
+
+void cloud_cb(const sensor_msgs::PointCloud2ConstPtr& input)


davetcoleman · 2018-07-10T02:06:42Z

+  // END_SUB_TUTORIAL
+  if (cloud->points.empty())
+  {
+    ROS_ERROR_STREAM("Can't find the cylindrical component.");


ROS_ERROR_STREAM_NAMED("file_name", "...

davetcoleman · 2018-07-10T02:07:16Z

+    ROS_ERROR_STREAM("Can't find the cylindrical component.");
+    return;
+  }
+  static bool points_not_found = true;


you should avoid static - is it really needed here?

static is needed here as the function will be called again and again but we want to compute the cylinder params only once and also publish it only once

mayman99 · 2018-07-10T15:01:11Z

 add_subdirectory(doc/state_display)
 add_subdirectory(doc/interactivity)
 add_subdirectory(doc/pick_place)
+add_subdirectory(doc/perception_pipeline)


Please add a new line here :)

mayman99 · 2018-07-10T20:12:35Z


 YAML Configuration file (Point Cloud)
-------------------------------------
+++++++++++++++++++++++++++++++++++++


…wn issues

Ridhwanluthra · 2018-07-12T10:58:04Z

+/*********************************************************************
+* Software License Agreement (BSD License)
+*
+*  Copyright (c) 2012, Willow Garage, Inc.


Is there a need to update this?

yea make it this year and your name

* added tests for running CHOMP in scenes with obstacles into the CHOMP tutorial * added section on Tweaking some of the parameters for CHOMP_under-construction commit * added: CHOMP parameters, difference in plans OMPL/CHOMP, python scripts edited * corrected scripts link * fixed formatting issues * PR changes requested * add_randomness is not used in the CHOMP code * addressed the PR changes requested * fixed python script bugs, removed sleep * minor bug changed the file name * changed class-names to be same as file-name * addressed PR requested changes for python script and tutorial document * addition of correct number of arguments check * added chomp_planner into index.rst and removed ros spin call * fixed print statement typo * fixed travis build errors

Add a description of the controller-specific duration parameters, including a discussion of the difference to the global values, as well as an example how to set them.

* Added tutorial for STOMP Motion planner * addressed PR#185 requested changes * addresses PR suggested changes * placed collision_scene_example.py in collision_environments folder * added section on running STOMP unit tests

* updated move_group_interface tutorial's Cartesian path waypoints (example moveit#4) so path is triangular * updated description of the path

mayman99 · 2018-07-21T15:37:34Z

+++++++++++++++++++++++++++++++++++

-We will have to generate a YAML configuration file for configuring the 3D sensors. An `example file for processing depth images <https://github.com/ros-planning/panda_moveit_config/blob/master/config/sensors_kinect_depthmap.yaml>`_ can be found in the `panda_moveit_config repository <https://github.com/ros-planning/panda_moveit_config>`_ as well: ::
+We will have to generate a YAML configuration file for configuring the 3D sensors. An `example file for processing depth images <https://github.com/ros-planning/panda_moveit_config/blob/master/config/sensors_kinect_depthmap.yaml>`_ can be found in the `panda_moveit_config repository <https://github.com/ros-planning/panda_moveit_config>`_ as well.


This is something I want to ask about since I'm not sure, is it possible to have both plugins working at the same time?

i don't think so but im not 100% on that

mayman99 · 2018-07-21T15:43:05Z

- <rosparam command="load" file="$(find panda_moveit_config)/config/sensors_kinect.yaml" />
+ <rosparam command="load" file="$(find panda_moveit_config)/config/sensors_kinect_pointcloud.yaml" />

+If you are using depthmap change the name of the yaml file to ``sensors_kinect_depthmap.yaml``.


Depending if the perception screen was to be merged first, adding this line would be automated.

agreed. this tutorial can be simplified by relying on the perception screen

davetcoleman · 2018-08-04T00:21:07Z

+++++++++++++++++++++++++++++++++++++

-We will have to generate a YAML configuration file for configuring the 3D sensors. Please see `this example file <https://github.com/ros-planning/panda_moveit_config/blob/master/config/sensors_kinect_pointcloud.yaml>`_ for processing point clouds, located in the `panda_moveit_config repository for Kinetic <https://github.com/ros-planning/panda_moveit_config>`_: ::
+We will have to generate a YAML configuration file for configuring the 3D sensors. Please see `this example file <https://github.com/ros-planning/panda_moveit_config/blob/master/config/sensors_kinect_pointcloud.yaml>`_ for processing point clouds, located in the `panda_moveit_config repository for Kinetic <https://github.com/ros-planning/panda_moveit_config>`_.


+1 to sensors_3d.yaml for the name

davetcoleman · 2018-08-04T00:21:29Z

+++++++++++++++++++++++++++++++++++

-We will have to generate a YAML configuration file for configuring the 3D sensors. An `example file for processing depth images <https://github.com/ros-planning/panda_moveit_config/blob/master/config/sensors_kinect_depthmap.yaml>`_ can be found in the `panda_moveit_config repository <https://github.com/ros-planning/panda_moveit_config>`_ as well: ::
+We will have to generate a YAML configuration file for configuring the 3D sensors. An `example file for processing depth images <https://github.com/ros-planning/panda_moveit_config/blob/master/config/sensors_kinect_depthmap.yaml>`_ can be found in the `panda_moveit_config repository <https://github.com/ros-planning/panda_moveit_config>`_ as well.


i don't think so but im not 100% on that

davetcoleman · 2018-08-04T00:22:22Z

- <rosparam command="load" file="$(find panda_moveit_config)/config/sensors_kinect.yaml" />
+ <rosparam command="load" file="$(find panda_moveit_config)/config/sensors_kinect_pointcloud.yaml" />

+If you are using depthmap change the name of the yaml file to ``sensors_kinect_depthmap.yaml``.


agreed. this tutorial can be simplified by relying on the perception screen

davetcoleman · 2018-08-04T00:22:59Z

+/*********************************************************************
+* Software License Agreement (BSD License)
+*
+*  Copyright (c) 2012, Willow Garage, Inc.


yea make it this year and your name

davetcoleman · 2018-08-04T00:23:05Z

+*     copyright notice, this list of conditions and the following
+*     disclaimer in the documentation and/or other materials provided
+*     with the distribution.
+*   * Neither the name of Willow Garage nor the names of its


davetcoleman · 2018-08-04T00:23:54Z

+*     copyright notice, this list of conditions and the following
+*     disclaimer in the documentation and/or other materials provided
+*     with the distribution.
+*   * Neither the name of Willow Garage nor the names of its


add your name here

davetcoleman · 2018-08-04T00:25:48Z

+
+// BEGIN_SUB_TUTORIAL param_struct
+// There are 4 fields and a total of 7 parameters used to define this.
+struct addCylinderParams


The names of all types — classes, structs, type aliases, enums, and type template parameters — have the same naming convention. Type names should start with a capital letter and have a capital letter for each new word. No underscores.

https://google.github.io/styleguide/cppguide.html#Type_Names

davetcoleman · 2018-08-04T00:27:39Z

+  // angle the point made horizontally- |code_start| atan2(pt.z,pt.x);\ |code_end| |br|
+  // angle the point made Vertically- |code_start| atan2(pt.z, pt.y);\ |code_end| |br|
+  // Loop over the entire pointcloud.
+  for (auto const pt : cloud->points)


Longer variable name:

pt -> point

davetcoleman · 2018-08-04T00:28:07Z

+   pointcloud and store the cylinder parameters in coefficients_cylinder.
+    @param cloud - Pointcloud whose plane is removed.
+    @param coefficients_cylinder - Cylinder parameters used to define an infinite cylinder will be stored here.
+    @param cloud_normals - Point normals corresponding to the plane on which cylinder is kept */


this is awesome documentation

davetcoleman · 2018-08-04T00:28:34Z

+    ROS_ERROR_STREAM_NAMED("cylinder_segment", "Can't find the cylindrical component.");
+    return;
+  }
+  static bool points_not_found = true;


rather than use static, make these functions part of a class and use a member variable

I have converted it to a class but I was wondering why is keeping static such a bad idea?

* license naming and year * conversion to class to remove static * naming and styling fix

mlautman · 2018-07-09T18:26:58Z

@@ -0,0 +1,319 @@
+#include <ros/ros.h>


add license

This is referenced from an earlier commit. The license has already been added

mlautman · 2018-08-06T23:02:07Z

+++++++++++++++++++++++++++++++++++++

-We will have to generate a YAML configuration file for configuring the 3D sensors. Please see `this example file <https://github.com/ros-planning/panda_moveit_config/blob/master/config/sensors_kinect_pointcloud.yaml>`_ for processing point clouds, located in the `panda_moveit_config repository for Kinetic <https://github.com/ros-planning/panda_moveit_config>`_: ::
+We will have to generate a YAML configuration file for configuring the 3D sensors. Please see `this example file <https://github.com/ros-planning/panda_moveit_config/blob/master/config/sensors_kinect_pointcloud.yaml>`_ for processing point clouds, located in the `panda_moveit_config repository for Kinetic <https://github.com/ros-planning/panda_moveit_config>`_.


@Ridhwanluthra Ping

includes - configuration - obstacle avoidance - cylinder segmentation - planning scene update This commit adds a rather small rosbag file as an example for the tutorials.

feedback addressed or too detailed to get this merged eventually..

v4hn · 2018-08-13T17:25:14Z

I just looked through the tutorial, fixed a few minor issues and merged it as 160e941 .
Thank you a lot @Ridhwanluthra !

Not all feedback in this pull-request has been addressed or thoroughly discussed, but the comment history was way to long already and it took a lot of effort to look through everything to judge the current quality.
I believe this tutorial could use some further contributions in the future,
especially with respect to the other GSoC contributions, but so could a lot of other parts of the tutorials.

Rename camera to match perception tutorial: moveit/moveit_tutorials#178.

ridhwanluthra added 4 commits June 3, 2018 23:08

added obstacle avoidance tutorial

5a6e1f1

added preprocessing the 3D data tutorial

dbfa3f7

removing files not needed for current tutorial

bc009b0

clean up and clang formatting

812e80f

v4hn reviewed Jun 6, 2018

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mlautman suggested changes Jun 7, 2018

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mlautman reviewed Jun 7, 2018

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adding keep-alive option to enable fake controller planning

6b74c1b

handled most changes requested by @mlautman except refactoring and re…

988432d

…lated to preprocessing

Ridhwanluthra force-pushed the perception_tutorial_update branch from 65f6a55 to b8b65c0 Compare June 8, 2018 09:49

changing name; fixing links; fixing heading syntax

3e96e8b

Ridhwanluthra force-pushed the perception_tutorial_update branch from b8b65c0 to 3e96e8b Compare June 8, 2018 10:28

ridhwanluthra added 2 commits June 9, 2018 01:45

adding collision object to scene; refactoring functions

417f620

updating tutorial for detection and adding cylinder collision object

dfcf581

Ridhwanluthra commented Jun 11, 2018

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mlautman suggested changes Jun 11, 2018

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ridhwanluthra added 4 commits June 12, 2018 04:31

Finishing up perception pipeline tutorial

59db088

used workaround for new line and code formatting in the tutorial-formatter

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

47bcb6b

…_tutorial_update

formatting fixes

63e8849

incorporating the requested reviews

980d0bd

* passing struct instead of vector to funcs * variable names improved * comments explaining functions added * other minor fixes

mlautman suggested changes Jun 19, 2018

View reviewed changes

Handling reviews

50b07e5

* /**/ comments * refactor launch * details on config storage and use * better dependency management

adding known issues

d5f7045

davetcoleman previously requested changes Jul 10, 2018

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mayman99 reviewed Jul 10, 2018

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Ridhwanluthra mentioned this pull request Jul 11, 2018

Error using the new bag publisher with time maintanence #192

Open

Fixing typos, adding lisence, better naming and issue tracker for kno…

22b1015

…wn issues

Ridhwanluthra commented Jul 12, 2018

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Ridhwanluthra mentioned this pull request Jul 12, 2018

Improvements and generalisation of bag_publisher_maintain_time.cpp #193

Closed

mlautman and others added 7 commits July 16, 2018 21:38

tutorial formatting and style rules (moveit#179)

a346982

Add description of duration parameters (moveit#161)

ca3466c

Add a description of the controller-specific duration parameters, including a discussion of the difference to the global values, as well as an example how to set them.

Added tutorial for STOMP Motion planner (moveit#185)

12d2298

* Added tutorial for STOMP Motion planner * addressed PR#185 requested changes * addresses PR suggested changes * placed collision_scene_example.py in collision_environments folder * added section on running STOMP unit tests

Move collision_scene_example into correct subfolder (moveit#191)

1e9a50b

Corrected tutorial's Cartesian path example (moveit#190)

514912a

* updated move_group_interface tutorial's Cartesian path waypoints (example moveit#4) so path is triangular * updated description of the path

Pick plan tutorial (moveit#182)

9401d53

mayman99 reviewed Jul 21, 2018

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davetcoleman reviewed Aug 4, 2018

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ridhwanluthra added 3 commits August 6, 2018 11:29

update fork

f52457b

Handled comments:

3073ad6

* license naming and year * conversion to class to remove static * naming and styling fix

clang formatting

fa10a7e

mlautman reviewed Aug 7, 2018

View reviewed changes

fixed old link

9f4ba07

v4hn pushed a commit that referenced this pull request Aug 13, 2018

added perception tutorial (#178)

160e941

includes - configuration - obstacle avoidance - cylinder segmentation - planning scene update This commit adds a rather small rosbag file as an example for the tutorials.

v4hn closed this Aug 13, 2018

rhaschke pushed a commit to moveit/panda_moveit_config that referenced this pull request Nov 13, 2018

Edits to match perception tutorial (#4)

ba05c7f

Rename camera to match perception tutorial: moveit/moveit_tutorials#178.


		If you set the initial and the final location of the robot in a way that there is no straight path between them, then the planner will automatically avoid the octomap and plan around it.

		.. image:: obstacle_avoidance.gif

		@@ -0,0 +1,53 @@
		<launch>
		<param name ="/use_sim_time" value="true"/>

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davetcoleman commented Jun 7, 2018

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mlautman commented Jun 11, 2018

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Ridhwanluthra commented Jun 12, 2018

Ridhwanluthra commented Jun 5, 2018 •

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