In practice, the Octomap doesn't work well in sim mock, because the dummy RealSense node just publishes a static depth image irrespective of where the robot arm is. As a result, we ask users to modify sensors_3d.yaml to disable the Octomap in mock. However, modifying a yaml file depending on whether you're simulating a robot or not is undesirable.
Thus, this PR modifies ada_moveit launch so that if sim:=mock, it does not pass in information from sensors_3d.yaml to the MoveGroup.
Testing
[x] Pull the latest code and re-build your workspace.
[x] Verify that your sensors_3d.yaml file has no local changes.
[x] Run the code in sim: python3 src/ada_feeding/start.py --sim mock
[x] Use the web app to move the robot, verify that there is no Octomap in RVIZ.
[x] Verify that the Octomap has no subscribers: ros2 topic info /local/camera/aligned_depth_to_color/depth_octomap -v
[x] Run the code in real: python3 src/ada_feeding/start.py
[x] Use the web app to move the robot, verify that there is the expected Octomap in RVIZ.
Description
In practice, the Octomap doesn't work well in sim mock, because the dummy RealSense node just publishes a static depth image irrespective of where the robot arm is. As a result, we ask users to modify
sensors_3d.yamlto disable the Octomap in mock. However, modifying a yaml file depending on whether you're simulating a robot or not is undesirable.Thus, this PR modifies
ada_moveitlaunch so that ifsim:=mock, it does not pass in information fromsensors_3d.yamlto the MoveGroup.Testing
sensors_3d.yamlfile has no local changes.python3 src/ada_feeding/start.py --sim mockros2 topic info /local/camera/aligned_depth_to_color/depth_octomap -vpython3 src/ada_feeding/start.pyTODO: Update README instructions to remove the part about modifying
sensors_3d.yaml.