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hello-robot / stretch_install

Install scripts for the Stretch mobile manipulators from Hello Robot Inc.
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Fix ROS Humble build #39

Closed hello-atharva closed 1 year ago

hello-atharva commented 1 year ago

Summary

Bumps several ROS repos to Humble. stretch_moveit_plugins is now using the latest MoveIt API for Humble. This PR also fixes librealsense installation.

hello-binit commented 1 year ago

Hi Atharva, it looks like your accounts got mixed up. The PR is opened by @hello-atharva, but the commit is authored by @atharva-18 . Can you amend the author on that commit and force push it?

hello-binit commented 1 year ago

Awesome, thanks! You might add @hello-chintan as a reviewer since this merges into his branch.

hello-atharva commented 1 year ago

Looks like latest build using stretch_ros2 on rolling is failing.

Edit: See issue source below

hello-atharva commented 1 year ago

Are we using the latest API here? https://github.com/hello-robot/stretch_ros2/blob/28b6a98bb718260c79cbb65fd810480f18c4865a/stretch_moveit2/stretch_moveit_config/src/moveit_draw.cpp#L143

It should be instead:

if(i <= 1){
      disp_plan.trajectory_ = my_plan.trajectory_;
}
hello-chintan commented 1 year ago

@hello-atharva You're right. The MoveIt cpp code will be deprecated in Humble as we move to the Python API, so it's not necessary to update it.

hello-binit commented 1 year ago

Pending Chintan's notes, I think this looks ready to merge.

hello-chintan commented 1 year ago

Looks good. Merging this in.