search

rosin-project / automatica18_scan_and_plan_demo

Apache License 2.0
14 stars 12 forks source link

Remove scanning related move group #5

Open hsd-dev opened 6 years ago

hsd-dev commented 6 years ago

Currently there are 5 move groups defined in the moveit config SRDF [1].

manipulator_asus - in our case ensenso for scanning
manipulator_tcp - tool tip for polishing
manipulator_keyence - scanning for quality check after "grinding" manipulator_ensenso - never used
manipulator - I think it was used to create the IKFast plugin, but not used explicitly in godel

Out of these, we are still using only manipulator_asus and manipulator_tcp. We having removed the planning code related to (quality-check) scanning [2]. But still, robot model for manipulator_keyence is initialized [3], which makes it mandatory to be defined in SRDF (else the node crashes).

Maybe the initialization of manipulator_keyence in [3] can be removed and thereby not necessitating it's definition in SRDF. This will eliminate the confusion while creating moveit_config_pkgs for other arms in future.

[1] https://github.com/rosin-project/automatica18_scan_and_plan_demo/blob/master/psir_demo_moveit_config/config/snp_psir_demo.srdf#L12 [2] https://github.com/ipa-hsd/godel/blob/automatica18/godel_surface_detection/src/services/blending_service_path_generation.cpp#L243 [3] https://github.com/ros-industrial-consortium/godel/blob/6d2e5f122c2e7723ee2d91abb861eca593d40b0e/godel_process_planning/src/godel_process_planning.cpp#L24

Chamango90 commented 6 years ago

Thoughts for another PR:

I would suggest to rename manipulator_asus to manipulator_camera and adjust it in robot_scan.cpp through the local param

  return loadParam(nh, "group_name", params_.group_name) &&

It is still confusing that this group uses the prbt_flange and not the the ensenso_optical_frame. But as I remember godel ist doing a transform at some point, right?

image

hsd-dev commented 6 years ago

I have renamed the group manipulator_ensenso. I tried setting the tool_tip as ensenso_optical_frame, but I could not solve the IK. The transformation is happening here.

We do not need to change robot_scan.cpp, we can set the value in robot_scan.yaml.