fix: apply upstream changes to 'setup_assistant_tutorial' tutorial #678
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This commit makes sure that all the upstream changes in the [moveit MSA](https://github.com/ros-planning/moveit/) and the [franka_ros](https://github.com/frankaemika/franka_ros) package are applied to the tutorial.
Also add different screenshots that more clearly display the hand of the robot, which is kind of hidden in the startup pose.
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Given the suggestion in frankaemika/franka_ros#194 (comment), we should add both arm planning groups, panda_arm and manipulator.
In my commit, I added a corresponding section. However, note that the screenshot will slightly change again.
We should also shortly discuss the coarse and detailed collision models.
Finally, I don't like the default robot pose of the Panda, which very much hides the hand.
I suggest taking screenshots using the ready pose instead - as soon as it is defined.
| * Click on the browse button and navigate to the *panda_arm.urdf.xacro* file | ||
| installed when you installed the Franka package above. (This file gets installed in | ||
| ``/opt/ros/noetic/share/franka_description/robots/panda_arm.urdf.xacro`` on Ubuntu | ||
| with ROS Noetic) Choose that file. | ||
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| * Now add **hand:=true** as the *optional xacro arguments and then click *Load Files*. | ||
| The Setup Assistant will load the files (this might take a few seconds) and present | ||
| you with this screen: |
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I suggest to start with a more generic formulation here and then become more specific. See my commit.
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I reviewed your changes and the text is now more clear. I will re-run the moveit_setup_assistant to check if all the MSA changes work.
I also noticed that but I included the screenshots like this since this is what the user sees when he walks through the process. I however can easily change them using the ready pose. |
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That's true. But, I think for a tutorial it is confusing if the hand is never visible but the tutorial talks about it. Showing such a view, as I did, will also provide an additional cue to the user, that she is able to change that view herself. Maybe, an explicit comment would be helpful anyway. |
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I updated some of the screenshots. I will do the rest when frankaemika/franka_ros#194 (comment) is fixed. We can use https://github.com/rickstaa/msa_panda_config_output to get back to the MSA that was used. |
This pull request makes sure that all the upstream changes in the moveit MSA and the franka_ros package are applied to the tutorial.
TODOS
v0.8.1.