moveit / panda_moveit_config

The Panda robot is the flagship MoveIt integration robot

http://docs.ros.org/kinetic/api/moveit_tutorials/html/

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ROS 2 Branch #133

Closed peterdavidfagan closed 1 year ago

peterdavidfagan commented 1 year ago

Hi @rhaschke,

Would a pull request for ROS 2 configuration files be welcomed?

I also wished to ask, how are you deciding on what links to enable collisions for? I have been using MSA to generate a self-collision matrix, despite this I have encountered some collisions while planning. I suspect this is due to the coarse collision geometries specified in the urdf of my robot (inherited from the default description files provided by Franka Emika).

rhaschke commented 1 year ago

Would a pull request for ROS 2 configuration files be welcomed?

Sure. I have created a rolling-devel branch.

How are you deciding on what links to enable collisions for?

The Panda has a very specific URDF with its coarse collision geometries. This is not handled nicely by MSA's automated collision checking (essentially the coarse models always collide). Please inherit from the noetic-devel configuration and only apply required changes for ROS2.

peterdavidfagan commented 1 year ago

Sure. I have created a rolling-devel branch.

Thanks @rhaschke.

Please inherit from the noetic-devel configuration and only apply required changes for ROS2.

Will do.

130s commented 1 year ago

I've started in https://github.com/ros-planning/panda_moveit_config/pull/136 @peterdavidfagan If you have work-in-progress that you don't mind sharing, I'd like to see.

130s commented 1 year ago

I've started in #136

136 is ready for the review.