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PilzDE / pilz_industrial_motion

Industrial trajectory generation for MoveIt!.
https://wiki.ros.org/pilz_industrial_motion
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Simple replacement for compute_cartesian_path (python) #345

Closed MatMcT closed 3 years ago

MatMcT commented 3 years ago

Hi guys,

After a few days of searching, I couldn't seem to find a solution to what I was looking for.

I was looking to use the functionality of MotionSequenceRequest as a replacement for MoveGroupCommander.compute_cartesian_path.

I reading the documentation here

I tried using the functions (PTP, LIN etc) from demo_program.py but couldn't seem to get past: Waiting for connection to service /prbt/get_speed_override... From what I gather, it's looking for a real PRBT connected? I should disclose I'm using a UR5e.

After hours of digging and frustration, I just wrote my own wrapper. It uses MoveGroupCommander as a parent class so you have access to all the underlying methods. By using MotionSequenceRequest it solves a few shortcomings that compute_cartesian_path has ie. no speed scaling and provides the benefit of using a blend radius.

Does something like already exist? If not I'd be happy to share.

o0stinger0o commented 3 years ago

Hi MatMcT, Recently, I try to find a method to control the speed of cartesian path.
My work environment is ROS-melodic,moveit,UR10e,and webots. I've tried Modify the joint_limits.yaml and use retime_trajectory(),set_max_acceleration_scaling_factor(), set_max_velocity_scaling_factor() but the speed and accelerate depends on the webots simulation speed. So i want to try Pilz Industrial Motion Planner,but the tutorials make me confused.

could you share your results? Thank you very much.

jschleicher commented 3 years ago

For speed_override without the corresponding safety controller you could simply comment the lines in robot.py https://github.com/PilzDE/pilz_industrial_motion/blob/5a0efb8efc287db659ff3a3075549243b381725c/pilz_robot_programming/src/pilz_robot_programming/robot.py#L542-L546 or use the fake_speed_override as in several test cases: https://github.com/PilzDE/pilz_industrial_motion/blob/d3b255df6f35da69af0284961f2a4e0a7aecd85b/pilz_robot_programming/test/integrationtests/integrationtest_self_collision.test#L41