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ori-orion / orion_manipulation

Repo for packages that deal with controlling the robot's arm and gripper
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No 3D collision mapping due to deprecated tmc_reconstruction package #57

Closed ricardocannizzaro closed 2 years ago

ricardocannizzaro commented 2 years ago

The tmc_reconstruction package is now deprecated and Toyota have no plans to bring it back in the future, nor a suitable substitute.

As a result, 3D collision mapping functionality does not exist.

The manipulation code was the only software that was using it. However, the 3D collision checking was switched off in that code to work around it for recent demos.

This needs to be fixed.

Paul Murcutt wrote an octomap version of this which is yet to be fully integrated.

More info on deprecated functionality: https://docs.hsr.io/hsr_develop_manual_en/customize/base_map.html#d

ricardocannizzaro commented 2 years ago

Mark Finean adapted an open-source collision mapping method for his research. The mapping pipeline is based on GPU-Voxels.