Hookup rviz buttons - Githubissues

ros-interactive-manipulation / pr2_object_manipulation

PR2-specific functionality related to pickup and place tasks.

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Hookup rviz buttons #40

Closed jon-weisz closed 11 years ago

jon-weisz commented 11 years ago

Uses new get3DPatch feature in rviz to make gripper click respect the normal of the clicked surface again for "interactive everything"

mateiciocarlie commented 11 years ago

Looks good; just two questions:

could we avoid the dependency on pcl? It seems to be used just for estimating the normal of the point cloud, that could be done with an SVD straight from eigen for example. Do you think it would be less robust? pcl is a very heavy-duty dependency to bring in on the frontend side.
also, it feels like estimating the normal at the click point will be more general and useful than just the SetGripper tool. It might belong upstream, in the rviz tool itself. @dgossow - any thoughts?

dgossow commented 11 years ago

A quick rospack depends pr2_interactive_manipulation_frontend | grep pcl shows me that we're depending on pcl anyway.
It would be great to have a standard tool that publishes a point cloud, similar to the current "publish point" tool. The size of the sampled region should be a property then.

mateiciocarlie commented 11 years ago

The pull request merged just now removes most of the dependency paths; looking at the ones that remain, it looks like they could also be eliminated with some judicious separation between msg packages and actual functionality packages.

I would avoid introducing a new dependency, if maybe it can be eliminated with a few equivalent calls to eigen or similar.

mateiciocarlie commented 11 years ago

OK, merging this for now as resources are focused on other projects; at some point, it would be good to revisit and remove the dependency on pcl, and also to move the "compute normal based on rendered patch" capability upstream into rviz::PointTool