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WIP: Update tutorials to work with the new collision geometries of panda #566

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WIP: Update tutorials to work with the new collision geometries of panda #566

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328b85d
Collision tutorials: explicitly set the start state
JafarAbdi Dec 18, 2020
e0267f3
Fix subframes tutorials by changing the poses so they don't collide w…
JafarAbdi Dec 18, 2020
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3 changes: 2 additions & 1 deletion doc/bullet_collision_checker/src/bullet_collision_checker_tutorial.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -157,7 +157,8 @@ int main(int argc, char** argv)
{
// BEGIN_TUTORIAL
// The code starts with creating an interactive robot and a new planning scene.
InteractiveRobot interactive_robot("robot_description", "bullet_collision_tutorial/interactive_robot_state");
InteractiveRobot interactive_robot("ready", "robot_description",
"bullet_collision_tutorial/interactive_robot_state");
g_planning_scene = std::make_unique<planning_scene::PlanningScene>(interactive_robot.robotModel());

// Changing the collision detector to Bullet
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2 changes: 1 addition & 1 deletion doc/interactivity/include/interactivity/interactive_robot.h
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Expand Up @@ -55,7 +55,7 @@
class InteractiveRobot
{
public:
InteractiveRobot(const std::string& robot_description = "robot_description",
InteractiveRobot(const std::string& start_pose, const std::string& robot_description = "robot_description",
const std::string& robot_topic = "interactive_robot_state",
const std::string& marker_topic = "interactive_robot_markers",
const std::string& imarker_topic = "interactive_robot_imarkers");
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7 changes: 4 additions & 3 deletions doc/interactivity/src/interactive_robot.cpp
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Expand Up @@ -50,8 +50,9 @@ const double InteractiveRobot::WORLD_BOX_SIZE_ = 0.15;
// minimum delay between calls to callback function
const ros::Duration InteractiveRobot::min_delay_(0.01);

InteractiveRobot::InteractiveRobot(const std::string& robot_description, const std::string& robot_topic,
const std::string& marker_topic, const std::string& imarker_topic)
InteractiveRobot::InteractiveRobot(const std::string& start_pose, const std::string& robot_description,
const std::string& robot_topic, const std::string& marker_topic,
const std::string& imarker_topic)
: user_data_(nullptr)
, nh_() // this node handle is used to create the publishers
// create publishers for markers and robot state
Expand Down Expand Up @@ -80,10 +81,10 @@ InteractiveRobot::InteractiveRobot(const std::string& robot_description, const s
ROS_ERROR("Could not get RobotState from Model");
throw RobotLoadException();
}
robot_state_->setToDefaultValues();

// Prepare to move the "panda_arm" group
group_ = robot_state_->getJointModelGroup("panda_arm");
robot_state_->setToDefaultValues(group_, start_pose);
std::string end_link = group_->getLinkModelNames().back();
desired_group_end_link_pose_ = robot_state_->getGlobalLinkTransform(end_link);

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12 changes: 7 additions & 5 deletions doc/subframes/src/subframes_tutorial.cpp
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Expand Up @@ -247,6 +247,7 @@ int main(int argc, char** argv)
att_coll_object.object.id = "cylinder";
att_coll_object.link_name = "panda_hand";
att_coll_object.object.operation = att_coll_object.object.ADD;
att_coll_object.touch_links = { att_coll_object.link_name };
ROS_INFO_STREAM("Attaching cylinder to robot.");
planning_scene_interface.applyAttachedCollisionObject(att_coll_object);
// END_SUB_TUTORIAL
Expand Down Expand Up @@ -319,7 +320,7 @@ int main(int argc, char** argv)
target_orientation.setRPY(0, 180.0 / 180.0 * M_PI, 90.0 / 180.0 * M_PI);
target_pose.pose.orientation = tf2::toMsg(target_orientation);
// To keep some distance to the box, we use a small offset:
target_pose.pose.position.z = 0.01;
target_pose.pose.position.z = 0.03;
showFrames(target_pose, "cylinder/tip");
moveToCartPose(target_pose, group, "cylinder/tip");
// END_SUB_TUTORIAL
Expand All @@ -332,7 +333,7 @@ int main(int argc, char** argv)
target_pose.header.frame_id = "box/top";
target_orientation.setRPY(180.0 / 180.0 * M_PI, 0, 90.0 / 180.0 * M_PI);
target_pose.pose.orientation = tf2::toMsg(target_orientation);
target_pose.pose.position.z = 0.01;
target_pose.pose.position.z = 0.03;
showFrames(target_pose, "cylinder/tip");
moveToCartPose(target_pose, group, "cylinder/tip");
}
Expand All @@ -343,7 +344,7 @@ int main(int argc, char** argv)
target_pose.header.frame_id = "box/corner_1";
target_orientation.setRPY(0, 180.0 / 180.0 * M_PI, 90.0 / 180.0 * M_PI);
target_pose.pose.orientation = tf2::toMsg(target_orientation);
target_pose.pose.position.z = 0.01;
target_pose.pose.position.z = 0.03;
showFrames(target_pose, "cylinder/tip");
moveToCartPose(target_pose, group, "cylinder/tip");
}
Expand All @@ -352,7 +353,7 @@ int main(int argc, char** argv)
target_pose.header.frame_id = "box/corner_2";
target_orientation.setRPY(0, 180.0 / 180.0 * M_PI, 90.0 / 180.0 * M_PI);
target_pose.pose.orientation = tf2::toMsg(target_orientation);
target_pose.pose.position.z = 0.01;
target_pose.pose.position.z = 0.03;
showFrames(target_pose, "cylinder/tip");
moveToCartPose(target_pose, group, "cylinder/tip");
}
Expand All @@ -361,7 +362,7 @@ int main(int argc, char** argv)
target_pose.header.frame_id = "box/side";
target_orientation.setRPY(0, 180.0 / 180.0 * M_PI, 90.0 / 180.0 * M_PI);
target_pose.pose.orientation = tf2::toMsg(target_orientation);
target_pose.pose.position.z = 0.01;
target_pose.pose.position.z = 0.05;
showFrames(target_pose, "cylinder/tip");
moveToCartPose(target_pose, group, "cylinder/tip");
}
Expand Down Expand Up @@ -421,6 +422,7 @@ int main(int argc, char** argv)
att_coll_object.object.id = "cylinder";
att_coll_object.link_name = "panda_hand";
att_coll_object.object.operation = att_coll_object.object.ADD;
att_coll_object.touch_links = { att_coll_object.link_name };
ROS_INFO_STREAM("Attaching cylinder to robot.");
planning_scene_interface.applyAttachedCollisionObject(att_coll_object);
}
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2 changes: 1 addition & 1 deletion doc/visualizing_collisions/src/visualizing_collisions_tutorial.cpp
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Expand Up @@ -170,7 +170,7 @@ int main(int argc, char** argv)
// object as a wrapper that combines a robot_model with the cube and an interactive marker. We also
// create a :planning_scene:`PlanningScene` for collision checking. If you haven't already gone through the
// `planning scene tutorial <../planning_scene/planning_scene_tutorial.html>`_, you go through that first.
InteractiveRobot robot;
InteractiveRobot robot("ready");
/* Create a PlanningScene */
g_planning_scene = new planning_scene::PlanningScene(robot.robotModel());

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