License: Apache License 2.0

CMake 11.33% C++ 75.82% Python 12.85%

automatica18_scan_and_plan_demo's People

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mathias-luedtke hsd-dev scoopyshi chamango90 ipa-nhg michaelchi08 ourobotics-ou stevewen ipa-rar oxidation99 myalfred03 pilzes arulfrances

automatica18_scan_and_plan_demo's Issues

Remove scanning related move group

Currently there are 5 move groups defined in the moveit config SRDF [1].

manipulator_asus - in our case ensenso for scanning
manipulator_tcp - tool tip for polishing
manipulator_keyence - scanning for quality check after "grinding"
manipulator_ensenso - never used
manipulator - I think it was used to create the IKFast plugin, but not used explicitly in godel

Out of these, we are still using only manipulator_asus and manipulator_tcp. We having removed the planning code related to (quality-check) scanning [2]. But still, robot model for manipulator_keyence is initialized [3], which makes it mandatory to be defined in SRDF (else the node crashes).

Maybe the initialization of manipulator_keyence in [3] can be removed and thereby not necessitating it's definition in SRDF. This will eliminate the confusion while creating moveit_config_pkgs for other arms in future.

[1] https://github.com/rosin-project/automatica18_scan_and_plan_demo/blob/master/psir_demo_moveit_config/config/snp_psir_demo.srdf#L12
[2] https://github.com/ipa-hsd/godel/blob/automatica18/godel_surface_detection/src/services/blending_service_path_generation.cpp#L243
[3] https://github.com/ros-industrial-consortium/godel/blob/6d2e5f122c2e7723ee2d91abb861eca593d40b0e/godel_process_planning/src/godel_process_planning.cpp#L24

Update README and .rosinstall for Pilz packages

Activate travis builds for this repository

@chcorbato @gavanderhoorn could you please activate Travis-ci to build this repository?

Thanks!

Port application to melodic

update deb packages and catkin build, remove ABB dependency in godel.
runtime issues in sim
runtime issues with real robot
check updates of repos in .rosinstall

demo mode without hw dependency?

Just wondering whether there is a launch file I could use to run this application without needing any actual hardware?

Similar to how Godel has the "full demo" mode.

Scan n Plan Demo application not working as expected

I've been trying to see the simulation of this application for the past 4 days. The build is successful, but when I use the launch command "roslaunch snp_prbt_bringup application_bringup.launch", I don't see anything in the gazebo window. I'm using Ros Kinetic. After this error below, I tried also to launch the godel demo. In that case, the application starts in the RViZ window with the robot, but still I don't see the object models. Do you have any documentation that I could follow? Kindly help me resolve this error. This is the error that I receive in the terminal while launching the "roslaunch snp_prbt_bringup application_bringup.launch":

[ INFO] [1571748295.037626463]: Loading gazebo_ros_control plugin
[ERROR] [1571748295.038085270]: GazeboRosControlPlugin missing <legacyModeNS> while using DefaultRobotHWSim, defaults to true.
This setting assumes you have an old package with an old implementation of DefaultRobotHWSim, where the robotNamespace is disregarded and absolute paths are used instead.
If you do not want to fix this issue in an old package just set <legacyModeNS> to true.

[ INFO] [1571748295.039202110]: Starting gazebo_ros_control plugin in namespace: prbt
[ INFO] [1571748295.041640703]: gazebo_ros_control plugin is waiting for model URDF in parameter [/robot_description] on the ROS param server.
[spawn_urdf-4] process has finished cleanly
log file: /home/rd/.ros/log/b5045c9a-f4c9-11e9-aa7a-080027772738/spawn_urdf-4*.log
[ERROR] [1571748295.473086407]: No p gain specified for pid.  Namespace: /gazebo_ros_control/pid_gains/prbt_joint_1
[ERROR] [1571748295.482466526]: No p gain specified for pid.  Namespace: /gazebo_ros_control/pid_gains/prbt_joint_2
[ERROR] [1571748295.487030974]: No p gain specified for pid.  Namespace: /gazebo_ros_control/pid_gains/prbt_joint_3
[ERROR] [1571748295.488728553]: No p gain specified for pid.  Namespace: /gazebo_ros_control/pid_gains/prbt_joint_4
[ERROR] [1571748295.494319459]: No p gain specified for pid.  Namespace: /gazebo_ros_control/pid_gains/prbt_joint_5
[ERROR] [1571748295.499002202]: No p gain specified for pid.  Namespace: /gazebo_ros_control/pid_gains/prbt_joint_6
[ INFO] [1571748295.563652354]: Loaded gazebo_ros_control.
Traceback (most recent call last):
  File "/opt/ros/kinetic/lib/controller_manager/spawner", line 207, in <module>
    if __name__ == '__main__': main()
  File "/opt/ros/kinetic/lib/controller_manager/spawner", line 199, in main
    resp = switch_controller(loaded, [], 2)
  File "/opt/ros/kinetic/lib/python2.7/dist-packages/rospy/impl/tcpros_service.py", line 435, in __call__
    return self.call(*args, **kwds)
  File "/opt/ros/kinetic/lib/python2.7/dist-packages/rospy/impl/tcpros_service.py", line 525, in call
    raise ServiceException("transport error completing service call: %s"%(str(e)))
rospy.service.ServiceException: transport error completing service call: unable to receive data from sender, check sender's logs for details
[WARN] [1571748302.043394, 0.000000]: Controller Spawner error while taking down controllers: unable to connect to service: [Errno 104] Connection reset by peer
Segmentation fault (core dumped)
[gazebo-2] process has died [pid 9828, exit code 139, cmd /home/rd/catkin_ws/src/gazebo_ros_pkgs/gazebo_ros/scripts/gzserver -u -e ode /home/rd/snp_demo_ws/src/automatica18_scan_and_plan_demo/snp_prbt_description/worlds/prbt_robot.world __name:=gazebo __log:=/home/rd/.ros/log/b5045c9a-f4c9-11e9-aa7a-080027772738/gazebo-2.log].
log file: /home/rd/.ros/log/b5045c9a-f4c9-11e9-aa7a-080027772738/gazebo-2*.log
[prbt/controller_spawner-5] process has died [pid 9839, exit code 1, cmd /opt/ros/kinetic/lib/controller_manager/spawner manipulator_joint_trajectory_controller manipulator_joint_state_controller __name:=controller_spawner __log:=/home/rd/.ros/log/b5045c9a-f4c9-11e9-aa7a-080027772738/prbt-controller_spawner-5.log].
log file: /home/rd/.ros/log/b5045c9a-f4c9-11e9-aa7a-080027772738/prbt-controller_spawner-5*.log

Thanks in advance!

Jagadesh

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