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Merge main changes into v6.0 #334
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Merge v6.0 changes into main
Signed-off-by: Paul Gesel <[email protected]> Co-authored-by: Jeremy Bronson <[email protected]> Co-authored-by: Paul Gesel <[email protected]> Co-authored-by: Abishalini Sivaraman <[email protected]> Co-authored-by: David Yackzan <[email protected]>
EzraBrooks
previously approved these changes
Aug 7, 2024
Comment on lines
-185
to
-205
| <disable_collisions link1="first_forearm_pinch_link" link2="first_forearm_link" reason="Adjacent"/> | ||
| <disable_collisions link1="first_forearm_pinch_link" link2="first_tool_changer_link" reason="Never"/> | ||
| <disable_collisions link1="first_forearm_pinch_link" link2="first_upper_arm_link" reason="Never"/> | ||
| <disable_collisions link1="first_forearm_pinch_link" link2="first_wrist_1_link" reason="Never"/> | ||
| <disable_collisions link1="first_forearm_pinch_link" link2="first_wrist_2_link" reason="Never"/> | ||
| <disable_collisions link1="first_wrist_3_pinch_link" link2="first_realsense_camera_adapter_link" reason="Adjacent"/> | ||
| <disable_collisions link1="first_wrist_3_pinch_link" link2="first_robotiq_85_base_link" reason="Adjacent"/> | ||
| <disable_collisions link1="first_wrist_3_pinch_link" link2="first_robotiq_85_left_finger_link" reason="Never"/> | ||
| <disable_collisions link1="first_wrist_3_pinch_link" link2="first_robotiq_85_left_finger_tip_link" reason="Never"/> | ||
| <disable_collisions link1="first_wrist_3_pinch_link" link2="first_robotiq_85_left_inner_knuckle_link" reason="Never"/> | ||
| <disable_collisions link1="first_wrist_3_pinch_link" link2="first_robotiq_85_left_knuckle_link" reason="Never"/> | ||
| <disable_collisions link1="first_wrist_3_pinch_link" link2="first_robotiq_85_right_finger_link" reason="Never"/> | ||
| <disable_collisions link1="first_wrist_3_pinch_link" link2="first_robotiq_85_right_finger_tip_link" reason="Never"/> | ||
| <disable_collisions link1="first_wrist_3_pinch_link" link2="first_robotiq_85_right_inner_knuckle_link" reason="Never"/> | ||
| <disable_collisions link1="first_wrist_3_pinch_link" link2="first_robotiq_85_right_knuckle_link" reason="Never"/> | ||
| <disable_collisions link1="first_wrist_3_pinch_link" link2="first_tool_changer_link" reason="Adjacent"/> | ||
| <disable_collisions link1="first_wrist_3_pinch_link" link2="first_ur_to_robotiq_link" reason="Adjacent"/> | ||
| <disable_collisions link1="first_wrist_3_pinch_link" link2="first_wrist_1_link" reason="Adjacent"/> | ||
| <disable_collisions link1="first_wrist_3_pinch_link" link2="first_wrist_2_link" reason="Adjacent"/> | ||
| <disable_collisions link1="first_wrist_3_pinch_link" link2="first_wrist_3_link" reason="Adjacent"/> | ||
| <disable_collisions link1="first_wrist_3_pinch_link" link2="first_wrist_mounted_camera_link" reason="Never"/> |
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Are we sure we want to remove the pinch link SRDF collision exceptions? If anything we should probably enable the pinch link on the multi arm xacro and then reenable these. Thoughts @sjahr?
I'm not necessarily blocking this PR on that though.
* Remove octomap_manager from config * Update description in package.xml --------- Co-authored-by: Matt Hansen <[email protected]>
* Create mobile_manipulation_config package * Add config file * Add launch files * Add waypoints * Add objectives --------- Co-authored-by: Matt Hansen <[email protected]>
marioprats
reviewed
Aug 8, 2024
| @@ -42,6 +42,7 @@ objectives: | |||
| - "moveit_studio::behaviors::MTCCoreBehaviorsLoader" | |||
| - "moveit_studio::behaviors::ServoBehaviorsLoader" | |||
| - "moveit_studio::behaviors::VisionBehaviorsLoader" | |||
| - "moveit_studio::behaviors::ConverterBehaviorsLoader" | |||
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I think we'll need to be more selective on what we merge into branch 6.0.
The new ConverterBehaviorsLoader plugin is not in the MoveIt Pro 6.0 release, so this config won't work
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Actually I think we can just drop da43687, so that we don't require the new message builder Behaviors. This branch without that specific commit seems to work.
marioprats
reviewed
Aug 8, 2024
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@dyackzan what exactly do we need on branch 6.0? See my comment. I think some of the changes would require updating MP as well.
---- Co-authored-by: Michael Wrock <[email protected]> Co-authored-by: Mario Prats <[email protected]>
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