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ipa320 / cob_manipulation

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[cob_moveit_bringup] setup_assistant does not support xacro --inorder #105

Closed fmessmer closed 7 years ago

fmessmer commented 7 years ago

thus, we cannot use the cob_moveit_bringup/setup_assistant.launch file anymore... needs to be added to https://github.com/ros-planning/moveit_setup_assistant/blob/kinetic-devel/src/setup_assistant_main.cpp#L57 similar as it is done for https://github.com/ros-planning/moveit_setup_assistant/blob/kinetic-devel/src/collisions_updater.cpp#L130

@ipa-bfb FYI

mathias-luedtke commented 7 years ago

Just use the jade version. The indigo xacro with --inorder is just using the jade version under the hood. This way you don't need to specify the --inorder flag to use the other new features.

fmessmer commented 7 years ago

well, sudo apt-get ros-jade-xacro is easy, but how would you then handle your indigo workspace to use jade xacro? if you source /opt/ros/jade/setup.bash you have to re-configure your workspace everytime...

mathias-luedtke commented 7 years ago

Hmm, the conditional blocks do not work without inorder processing. But we can use already processed URDFs for now and switch to kinetic sooner than later ;)

fmessmer commented 7 years ago

If I find a slot, I might propose a (consistency) fix for setup_assistant...should not be too much work...and still Indigo is LTS so they might merge it...

mathias-luedtke commented 7 years ago

Indigo and jade have been excluded intentionally: https://github.com/ros-planning/moveit/pull/238

gavanderhoorn commented 7 years ago

Not sure if you also care about the gui, but see ros-planning/moveit#540.

I might have to revisit that PR and add support for the command line side as well.

fmessmer commented 7 years ago

With https://github.com/ros-planning/moveit/pull/540 merged, it is now possible to create new moveit config packages for xacro's using Jade+ features... However, moveit_setup_assistant still fails to load xacro's using Jade+ features when editing an existing moveit_config package (see https://github.com/ros-planning/moveit/issues/511#issuecomment-338576884)

gavanderhoorn commented 7 years ago

Should be as simple as adding use_jade_xacro: true to the .setup_assistant of an existing config. See https://github.com/ros-industrial/fanuc/blob/61a84f2684136053824b34406220fa2eaf4b7ad9/fanuc_lrmate200ic5h_moveit_config/.setup_assistant#L5 fi.

fmessmer commented 7 years ago

@gavanderhoorn thanks for pointing this out