Skip to content
This repository has been archived by the owner on Dec 13, 2024. It is now read-only.

Remove dependencies on deprecated UpdatePlanningScene behavior #35

Merged
merged 1 commit into from
Jun 14, 2023
Merged

Remove dependencies on deprecated UpdatePlanningScene behavior #35

Show file tree
Hide file tree
Changes from all commits
Commits
Show all changes
1 commit
Select commit
File filter

Filter by extension

Filter by extension
Conversations
Failed to load comments.
Loading
Jump to
Jump to file
Failed to load files.
Loading
Diff view
Diff view
3 changes: 0 additions & 3 deletions src/picknik_ur_base_config/config/moveit/sensors_3d.yaml
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -16,9 +16,6 @@ scene_scan_camera:
padding_offset: 0.01
# The octomap representation will be updated at rate less than or equal to this value.
max_update_rate: 0.1
# This parameter is not required by moveit_studio_plugins/PointCloudServiceOctomapUpdater, but it is needed by the Studio UpdatePlanningScene behavior so we keep it in for now.
# TODO(10856): Delete this parameter
point_cloud_topic: "/scene_camera/depth/color/points/snapshot"

# Specifies the resolution at which the octomap is maintained (in meters).
octomap_resolution: 0.01
Expand Down
2 changes: 1 addition & 1 deletion src/picknik_ur_base_config/objectives/pick_place_object.xml
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -20,7 +20,7 @@
<!-- Get the latest point cloud from the target topic-->
<Action ID="GetPointCloud" topic_name="/wrist_mounted_camera/depth/color/points" message_out="{point_cloud}" />
<!-- Publish point cloud for display by UI -->
<Action ID="UpdatePlanningScene" point_cloud="{point_cloud}" sensor_name="scene_scan_camera" pcd_topic="/pcd_pointcloud_captures" point_cloud_uuid=""/>
<Action ID="SendPointCloudToUI" point_cloud="{point_cloud}" sensor_name="scene_scan_camera" pcd_topic="/pcd_pointcloud_captures" point_cloud_uuid=""/>
<!-- Detect all cuboids in that point cloud-->
<Action ID="FindSingularCuboids" point_cloud="{point_cloud}" parameters="{parameters}" detected_shapes="{cuboids}"/>
<!-- Find the closest cuboid to the pose calculated from the user's original click -->
Expand Down
3 changes: 0 additions & 3 deletions src/picknik_ur_gazebo_config/config/moveit/sensors_3d.yaml
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -16,9 +16,6 @@ scene_scan_camera:
padding_offset: 0.01
# The octomap representation will be updated at rate less than or equal to this value.
max_update_rate: 0.1
# This parameter is not required by moveit_studio_plugins/PointCloudServiceOctomapUpdater, but it is needed by the Studio UpdatePlanningScene behavior so we keep it in for now.
# TODO(10856): Delete this parameter
point_cloud_topic: "/scene_camera/depth/color/points/snapshot"

# Specifies the resolution at which the octomap is maintained (in meters).
octomap_resolution: 0.01
Expand Down