Add subframe tutorial #81

vatanaksoytezer · 2021-04-27T19:50:41Z

Add subframe tutorial
Add resolve contraint frames to other tutorials, (so if people want to use subframes from those tutorials it would work)

Currently blocked by moveit/moveit_resources#64

MarqRazz · 2021-05-05T14:45:20Z

doc/subframes/subframes_tutorial.rst


 In the second terminal run the tutorial: ::

-    rosrun moveit_tutorials subframes_tutorial
+   ros2 launch moveit2_tutorials subframes_tutorial.launch.py

 In this terminal you should be able to enter numbers from 1-12 to send commands, and to see how the robot and the scene react.


line 46 below should be moveit2_tutorials.

Good catch, fixing it.

MarqRazz

I built, ran the demo and generated the webpage.

Small things I noticed...
This demo also suffers from this bug
I get errors saying the move is timing out every once in a while (someone testing calibration with the Panda robot was saying they were have the same issue)

[ros2_control_node-5] [panda_arm_controller]: Goal reached, success!
[move_group-4] [moveit.simple_controller_manager.follow_joint_trajectory_controller_handle]: waitForExecution timed out
[move_group-4] [moveit_ros.trajectory_execution_manager]: Controller is taking too long to execute trajectory (the expected upper bound for the trajectory execution was 3.738405 seconds). Stopping trajectory.
[move_group-4] [moveit.simple_controller_manager.follow_joint_trajectory_controller_handle]: Cancelling execution for panda_arm_controller
[ros2_control_node-5] [panda_arm_controller]: Got request to cancel goal
[move_group-4] [moveit_ros.trajectory_execution_manager]: Completed trajectory execution with status TIMED_OUT ...
[move_group-4] [moveit_move_group_default_capabilities.execute_trajectory_action_capability]: Execution completed: TIMED_OUT

vatanaksoytezer · 2021-05-05T15:08:31Z

This demo also suffers from this bug

This is correct. Anything using move_group with and attached object is effected.

I get errors saying the move is timing out every once in a while (someone testing calibration with the Panda robot was saying they were have the same issue)

In the case that you get these errors. Is the tutorial still working or not?

MarqRazz · 2021-05-05T15:40:16Z

Everything works as expected, except for the message printing.

vatanaksoytezer · 2021-05-05T16:08:54Z

Everything works as expected, except for the message printing.

I will have a look and try to understand what happens

MarqRazz · 2021-06-27T15:31:59Z

Today I updated all of my moveit repos and tried to test this branch again and it is seg faulting when I run this demo. I double checked to make sure default_planner_request_adapters/ResolveConstraintFrames was listed in ompl_planning_pipeline.launch.xml and it is but not in the recommended order that is suggested in the Troubleshooting section. Changing the order didnt help so I will keep digging for the issue...

[ERROR] [move_group-4]: process has died [pid 221215, exit code -11, cmd '/home/marq/moveit_ws/install/moveit_ros_move_group/lib/moveit_ros_move_group/move_group --ros-args --params-file /tmp/launch_params_ta9prs0_ --params-file /tmp/launch_params_4lmt_ds2 --params-file /tmp/launch_params_rpy3poyd --params-file /tmp/launch_params_yt8jqzwb --params-file /tmp/launch_params_8j_mcseo --params-file /tmp/launch_params_sg8szb1i --params-file /tmp/launch_params_z_jhxddx'].

vatanaksoytezer · 2021-06-27T20:13:01Z

Today I updated all of my moveit repos and tried to test this branch again and it is seg faulting when I run this demo. I double checked to make sure default_planner_request_adapters/ResolveConstraintFrames was listed in ompl_planning_pipeline.launch.xml and it is but not in the recommended order that is suggested in the Troubleshooting section. Changing the order didnt help so I will keep digging for the issue...

Thanks for digging in @MarqRazz I'll also have a look soon. I completely forgot this existed lol

mergify · 2022-01-13T23:06:45Z