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yijiangh / choreo

Choreo: robotic motion planning platform for discrete architectural assembly
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MoveIt! planning not continue after successful planning? #26

Closed yijiangh closed 7 years ago

yijiangh commented 7 years ago

Encounter this when following move_group.plan tutorial here[1].

Decide to restructure the code to separate planning class as a standalone node. Related discussion can be found on this ros answer post[2] and this google group discussion[3] led by Ioan Sucan.

Reference:

[1] https://github.com/ros-planning/moveit_tutorials/blob/fdb2371cf5ea48ef608b63b376f904f365d98964/doc/pr2_tutorials/planning/src/move_group_interface_tutorial.cpp [2] http://answers.ros.org/question/231025/moveit-planning-not-continue-after-successful-planning/ [3] https://groups.google.com/forum/#!topic/moveit-users/s9b7IJuKRKY

yijiangh commented 7 years ago

All the collision objects in Rviz are actually sent into by planning_scene_interface. Thus a service ui-function mechanism would be sufficient for our application.

yijiangh commented 7 years ago

New code architecture concept developed. Implementation starts. code_architecture_between_nodes

yijiangh commented 7 years ago

For commit b05f38e 's problem about service calling, please refer and answer is still-open problem here.