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ros-industrial / easy_manipulation_deployment

A ROS2 package that allows rapid digitization of robotic work cells and ease of efficient path-planning of manipulators.
Apache License 2.0
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epd_msgs's srv and client are not provided #10

Closed Promethees closed 2 years ago

Promethees commented 2 years ago

In order to have get grasp_planning being a subscriber of topic /processor/epd_localize_output, the /grasp_planner/include/grasp_planner/grasp_scene.cpp should be proceeded. In its header file, grasp_scene.hpp, whenever global variable EPD_ENABLED is set to 1, which indicate the availability of epd_msgs, the epd_msgs/srv/perception.hpp is needed for importing services and clients: Screenshot from 2021-12-16 16-18-45 Screenshot from 2021-12-16 16-19-33 Unfortunately, the /srv folder under epd_msgs seems to be missed out from easy_perception_deployment source code Screenshot from 2021-12-16 16-19-59 This issue leads to the unavailability of integration between epd's localization and emd's grasp planner. Is there any way can I resolve it?

cardboardcode commented 2 years ago

Hi @Promethees, thank you for identifying this issue. Apologies for the inconvenience caused. Working on it.

Will update once the /srv folder has been properly updated over at EPD.

cardboardcode commented 2 years ago

Hi @Promethees,

A hot fix has been introduced over at EPD under a forked repository.

Please use the following forked repository while the Continuous Integration (CI) issues are being resolved before merging into the official ros-industrial repository:

git clone https://github.com/cardboardcode/easy_perception_deployment.git

Do let us know if this resolves this issue for you. Will update again once the fix has been merged officially.

Promethees commented 2 years ago

Hi, I really appreciate for the prompt response and the fix! However, I'm still confused for the missing of a file called epd_msgs/srv/Perception.hpp. Is this still the one hasn't been uploaded yet? Screenshot from 2021-12-19 23-27-56 Screenshot from 2021-12-19 23-31-28

cardboardcode commented 2 years ago

It has been added. Just not specifically in the latest commit.

Please refer to this commit.

However, please still use the latest commit as highlighted above since simply including the .srv file is not enough. There are features in place in EPD that makes use of it.

Promethees commented 2 years ago

Ah, it appears that my ros is a little bit behind after an instant merge(i.e: it should take a while for ros's cmake to recognize the existence of the newly added Perception.srv to do the build). Anyways, this issue is solved, thanks a lot!

cardboardcode commented 2 years ago

Hi @Promethees,

A hot fix has been introduced over at EPD under a forked repository.

Please use the following forked repository while the Continuous Integration (CI) issues are being resolved before merging into the official ros-industrial repository:

git clone https://github.com/cardboardcode/easy_perception_deployment.git

Do let us know if this resolves this issue for you. Will update again once the fix has been merged officially.

The fix has been merged officially into ros-industrial's easy_perception_deployment [link].