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moveit / moveit_ros

THIS REPO HAS MOVED TO https://github.com/ros-planning/moveit
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rviz gui for planner parameters #627

Closed rhaschke closed 8 years ago

rhaschke commented 8 years ago

Inspired by #625 I worked on an extension of the rviz MotionPlanningFrame to show and edit parameters of a selected planning algorithm. As a MoveIt novice, I found it particularly hard to know about available parameters and where to adjust them.

This PR adds a new rviz::PropertyTreeWidget to the "Context" panel. Available planner parameters are retrieved and set through two new ROS services provided by the move_group node. This nodes employs the methods get/setPlannerConfigurations() of the planning_interface.

Unfortunately, these methods provide an untyped parameter map only (string -> string), such that the gui interface cannot provide type checking too. If the map would employ something like QVariant(), we could have type-safe user interaction...

I added the new services to the MoveGroupQueryPlannersService capability to have it loaded by default.

@sachinchitta @isucan Please comment on that extension to further improve it.

rhaschke commented 8 years ago

This PR requires the new message and services types suggested by PR #15 in moveit_msgs.

sachinchitta commented 8 years ago

Could you move this PR to jade-devel? I also opened a jade-devel branch for moveit_msgs for the corresponding PR there.

rhaschke commented 8 years ago

Sure. Should we apply all those recent indigo commits first? Would you prefer a merge or (squashed?) cherry pick?

sachinchitta commented 8 years ago

Cherry picked would be good.

davetcoleman commented 8 years ago

Great idea - a much needed introspection tool

rhaschke commented 8 years ago

@sachinchitta @isucan @davetcoleman I merged moveit-ros' indigo-devel branch into jade-devel. (After cherry-picking all merge commits manually, I noticed that finally indigo-devel and jade-devel were identical. Hence I decided to merge directly, which better reflects the actual history.)

rhaschke commented 8 years ago

Replaced by #628.