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ZebraDevs / fetch_ros

Open ROS Components for Robots from Fetch Robotics
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[fetch_teleop][melodic] move collision objects to avoid collision for melodic #132

Closed knorth55 closed 3 years ago

knorth55 commented 4 years ago

melodic version of #131 I haven't tested on melodic robot because we dont have it.

knorth55 commented 4 years ago

I changed to use stl mesh file for collision objects as #131, but I think moveit_python is disabled to add mesh on kinetic and melodic because of pyassimp problem. pyassimp is broken in kinetic but fixed in melodic, so we can use pyassimp in melodic, but it is disabled in moveit_python. I made PR to enable pyassimp in moveit_python. https://github.com/mikeferguson/moveit_python/pull/23

knorth55 commented 4 years ago

Another choice is to stop using moveit_python and use moveit_commander. With moveit_commander, you can add mesh in melodic, too.

knorth55 commented 4 years ago

moveit_python 0.3.3 is released, so we can run this in Melodic. However, we do not have Fetch with melodic, so we cannot test it by ourselves.

knorth55 commented 3 years ago

Now, we updated our fetch to melodic and testing this PR. scene.addMesh() in this PR does not work because of pyassimp. I fixed the bug in moveit_python. https://github.com/mikeferguson/moveit_python/pull/27

mikeferguson commented 3 years ago

moveit_python fix is merged and released.

erelson commented 3 years ago

For noetic, I've cherry-picked this PR's commits into https://github.com/fetchrobotics/fetch_ros/pull/153