search

PickNikRobotics / UR10e_welding_demo

21 stars 5 forks source link

WIP: Add workpieces and WIP of welding pipeline #20

Closed christianlandgraf closed 3 years ago

christianlandgraf commented 3 years ago

This PR targets at adding the welding-related things to the repository. To avoid confusions "ProcessIt" is our internal nickname for the stuff we've done with MoveIt applied to welding :)

In short, the PR test node in package processit_cax\ should load the workpiece to the planning scene collision objects when starting and load the generated weld seams for this test workpiece. I still have to add the markers and lines to visualizes these seams, I think it makes it clearer.

The (ROS 1) MTC configuration for welding is part of processit_tasks and still needs to be migrated to ROS 2 and connected to the hybrid_planning_demo package.

It's probably quite huge and messy, but if you have any feedback I'm still working on some things, please ask your questions if you have time to look at this. And feel free to add all the feedback, I'm pretty new to ROS 2 and this stuff ;)

christianlandgraf commented 3 years ago

With the latest version I get a much more robust workflow. The problems with multiple planning_scene_monitors disappeared. I had two activate the following monitors in moveit_visual_tools

    // psm_->startSceneMonitor("/move_group/monitored_planning_scene");
    // psm_->startStateMonitor("/joint_states", "/attached_collision_object");

(see https://github.com/vatanaksoytezer/moveit_visual_tools/blob/pr-port_ros2/src/moveit_visual_tools.cpp#L123) I'm still trying to figure out the reasons for this.

christianlandgraf commented 3 years ago

As discussed a while ago, I will close this one in favor of creating multiple smaller, independent PRs