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lbr-stack / lbr_fri_ros2_stack

ROS 2 integration for KUKA LBR IIWA 7/14 and Med 7/14
https://lbr-stack.readthedocs.io/en/latest/lbr_fri_ros2_stack/lbr_fri_ros2_stack/doc/lbr_fri_ros2_stack.html
Apache License 2.0
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moveit planners plugin? #195

Open shengyangzhuang opened 4 months ago

shengyangzhuang commented 4 months ago

Dear mhubii,

I am trying to configure curobo moveit plugin with lbr-stack. I faced some similar issue that I previously wanted to ask. Currently, the moveit cannot choose any planner and always uses default RRTConnect. Could you provide some guidance on how to configure other planners? Thank you for any help you can provide.

Screenshot from 2024-07-08 14-32-33

Warm regards,

S.Z.

mhubii commented 4 months ago

good point, this configuration is probably missing right now.

Putting for reference https://nvidia-isaac-ros.github.io/repositories_and_packages/isaac_ros_cumotion/isaac_ros_cumotion_moveit/index.html

shengyangzhuang commented 4 months ago

Thanks for your response. I tried it yesterday as well. It was all about docker development. I am not quite familiar with docker. I tried to mount the lbr-stack inside the container. Unfortunately it could not be built. Then I tried to install it inside the container, it could not be built either. Here is the instruction I followed.

I was trying to add my own layer including lbr-stack on top of the base images provided in Isaac ROS. I couldn't quite understand their instructions. I would be appreciated if you could provide me with some insights.

This is my directory structure

~/.isaac_ros_common-config
/home/szhuang/workspaces/isaac_ros-dev
     /home/szhuang/workspaces/isaac_ros-dev/ros2_ws
         /home/szhuang/workspaces/isaac_ros-dev/ros2_ws/lbr-stack_docker
         /home/szhuang/workspaces/isaac_ros-dev/ros2_ws/lbr-stack_docker/Dockerfile.lbr
         /home/szhuang/workspaces/isaac_ros-dev/ros2_ws/lbr-stack_docker/container_build.sh

I then have ~/.isaac_ros_common-config as follows:

CONFIG_IMAGE_KEY= Dockerfile.lbr
CONFIG_DOCKER_SEARCH_DIRS=(/home/szhuang/workspaces/isaac_ros-dev/ros2_ws/lbr-stack_docker)

Then I run 

~workspaces/isaac_ros-dev/src/isaac_ros_commom/scripts/run_dev.sh -d /home/szhuang/ros2_ws_mounted

It told me it couldn't find the Dockerfile.lbr, even though I specified the directory already. Besides, I used the dockerfile provided by lbr-stack directly. I might need to make some changes as well, right?

I am trying to install it natively today and will see if it can work without docker.

shengyangzhuang commented 4 months ago

I think I finally sort it out :) I can try configuring all the planners with lbr-stack, including cumotion, chomp, and others inside ompl

mhubii commented 4 months ago

did you modify this line?

https://github.com/lbr-stack/lbr_fri_ros2_stack/blob/519f5203518d8111ec9a98856ba711ce9bad99d0/lbr_bringup/launch_mixins/lbr_bringup.py#L70

shengyangzhuang commented 4 months ago

yes, I think I will need to modify that line. I'm working on the XRDF file mentioned here. Then I will modify that to see if it works.

shengyangzhuang commented 4 months ago

Update:

So I just setup cumotion with iiwa7. Somehow it just got stuck in planning stage even though it was a simple movement.

There isn't any error and everything looks fine. I would be grateful if anyone with relevant experience could offer me some insights. I posted the same issue on cumotion github repo.

https://github.com/NVIDIA-ISAAC-ROS/isaac_ros_cumotion/issues/8