ros2-ified #136

130s · 2023-06-07T09:43:30Z

Issue

ROS 2 Branch #133

CoS

ROS2-fied packaging and building rsc (package.xml, CMakeLists.txt)
ROS2-fied execution rsc (launch)
Dev-test by authors.
Confirmed on RViz2 planning and execution went as expected.
```
ros2 launch panda_moveit_config demo.launch.py
```
Dev-test by others.

Impl approach

Ended up re-running MSA (2.5.4, Humble) against moveit_resources_panda_description installed from deb, then merge the generated files into this repo.
Files generated back in ros1 era are set aside in ros1 folder, for easier access in case of need. IINM, this package is used widely for MoveIt tutorial so such a special setup might be hopefully acceptable.

130s · 2023-06-07T10:52:07Z

Hmm. Reading the existing local panda_moveit_config repo (I see .setup_assistant present) fails.

root@130s-p16s:/cws/src/ros-planning/panda_moveit_config# ros2 launch moveit_setup_assistant setup_assistant.launch.py
[INFO] [launch]: All log files can be found below /root/.ros/log/2023-06-07-06-01-05-733463-130s-p16s-10140
[INFO] [launch]: Default logging verbosity is set to INFO
[INFO] [moveit_setup_assistant-1]: process started with pid [10141]
[moveit_setup_assistant-1] QStandardPaths: XDG_RUNTIME_DIR not set, defaulting to '/tmp/runtime-root'
[moveit_setup_assistant-1] terminate called after throwing an instance of 'ament_index_cpp::PackageNotFoundError'
[moveit_setup_assistant-1]   what():  package 'franka_description' not found, searching: [/opt/ros/humble]
[moveit_setup_assistant-1] Stack trace (most recent call last):
[moveit_setup_assistant-1] #31   Object "/usr/lib/x86_64-linux-gnu/libQt5Widgets.so.5.15.3", at 0x7f34248b6363, in QApplication::notify(QObject*, QEvent*)
[moveit_setup_assistant-1] #30   Object "/usr/lib/x86_64-linux-gnu/libQt5Widgets.so.5.15.3", at 0x7f34248ae712, in QApplicationPrivate::notify_helper(QObject*, QEvent*)
[moveit_setup_assistant-1] #29   Object "/usr/lib/x86_64-linux-gnu/libQt5Widgets.so.5.15.3", at 0x7f34248f14ed, in QWidget::event(QEvent*)
[moveit_setup_assistant-1] #28   Object "/usr/lib/x86_64-linux-gnu/libQt5Widgets.so.5.15.3", at 0x7f34249a61e6, in QAbstractButton::mouseReleaseEvent(QMouseEvent*)
[moveit_setup_assistant-1] #27   Object "/usr/lib/x86_64-linux-gnu/libQt5Widgets.so.5.15.3", at 0x7f34249a5fc3, in 
[moveit_setup_assistant-1] #26   Object "/usr/lib/x86_64-linux-gnu/libQt5Widgets.so.5.15.3", at 0x7f34249a439d, in 
[moveit_setup_assistant-1] #25   Object "/usr/lib/x86_64-linux-gnu/libQt5Widgets.so.5.15.3", at 0x7f34249a4115, in QAbstractButton::clicked(bool)
[moveit_setup_assistant-1] #24   Object "/usr/lib/x86_64-linux-gnu/libQt5Core.so.5.15.3", at 0x7f3423df67c7, in 
[moveit_setup_assistant-1] #23   Source "./src/helper_widgets.cpp", line 171, in btnFileDialog [0x7f34251f55cf]
[moveit_setup_assistant-1] #22   Object "/usr/lib/x86_64-linux-gnu/libQt5Widgets.so.5.15.3", at 0x7f3424a04a91, in QWidgetLineControl::internalSetText(QString const&, int, bool)
[moveit_setup_assistant-1] #21   Object "/usr/lib/x86_64-linux-gnu/libQt5Widgets.so.5.15.3", at 0x7f3424a047ce, in QWidgetLineControl::finishChange(int, bool, bool)
[moveit_setup_assistant-1] #20   Object "/usr/lib/x86_64-linux-gnu/libQt5Widgets.so.5.15.3", at 0x7f3424a010f8, in QWidgetLineControl::textChanged(QString const&)
[moveit_setup_assistant-1] #19   Object "/usr/lib/x86_64-linux-gnu/libQt5Core.so.5.15.3", at 0x7f3423df67c7, in 
[moveit_setup_assistant-1] #18   Object "/usr/lib/x86_64-linux-gnu/libQt5Widgets.so.5.15.3", at 0x7f34249f9845, in QLineEdit::textChanged(QString const&)
[moveit_setup_assistant-1] #17   Object "/usr/lib/x86_64-linux-gnu/libQt5Core.so.5.15.3", at 0x7f3423df67c7, in 
[moveit_setup_assistant-1] #16   Source "./.obj-x86_64-linux-gnu/include/moveit_setup_framework/qt/moc_helper_widgets.cpp", line 222, in pathChanged [0x7f342521dbd5]
[moveit_setup_assistant-1] #15   Object "/usr/lib/x86_64-linux-gnu/libQt5Core.so.5.15.3", at 0x7f3423df67c7, in 
[moveit_setup_assistant-1] #14   Source "./src/start_screen_widget.cpp", line 300, in onPackagePathChanged [0x7f3416007939]
[moveit_setup_assistant-1] #13   Source "./src/start_screen_widget.cpp", line 319, in loadPackageSettings [0x7f3416007863]
[moveit_setup_assistant-1] #12   Source "./src/start_screen.cpp", line 73, in loadExisting [0x7f341600733b]
[moveit_setup_assistant-1] #11   Source "./src/package_settings_config.cpp", line 149, in loadExisting [0x7f34252058e2]
[moveit_setup_assistant-1] #10   Source "./src/urdf_config.cpp", line 60, in loadPrevious [0x7f34251fdbbb]
[moveit_setup_assistant-1] #9  | Source "./src/urdf_config.cpp", line 123, in getSharePath
[moveit_setup_assistant-1]       Source "./include/moveit_setup_framework/utilities.hpp", line 52, in loadFromPackage [0x7f34251fcffd]
[moveit_setup_assistant-1] #8    Object "/opt/ros/humble/lib/libament_index_cpp.so", at 0x7f3423affe32, in ament_index_cpp::get_package_share_directory(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)
[moveit_setup_assistant-1] #7    Object "/opt/ros/humble/lib/libament_index_cpp.so", at 0x7f3423afdb16, in 
[moveit_setup_assistant-1] #6    Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.30", at 0x7f3423925517, in __cxa_throw
[moveit_setup_assistant-1] #5    Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.30", at 0x7f34239252b6, in std::terminate()
[moveit_setup_assistant-1] #4    Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.30", at 0x7f342392524b, in 
[moveit_setup_assistant-1] #3    Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.30", at 0x7f3423919bbd, in 
[moveit_setup_assistant-1] #2    Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f34236557f2, in abort
[moveit_setup_assistant-1] #1    Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f342366f475, in raise
[moveit_setup_assistant-1] #0    Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f34236c3a7c, in pthread_kill
[moveit_setup_assistant-1] Aborted (Signal sent by tkill() 10141 0)
[ERROR] [moveit_setup_assistant-1]: process has died [pid 10141, exit code -6, cmd '/opt/ros/humble/lib/moveit_setup_assistant/moveit_setup_assistant --ros-args'].

I'm doing this in Docker container via rocker so that GUI can be opened. Hope that doesn't matter.

package 'franka_description' not found

??

Adding franka_description frankaemika/franka_ros#344 and retried. Got:

# export PATH_INSTALL_BASE=/opt/ros/$ROS_DISTRO && source $PATH_INSTALL_BASE/setup.bash && colcon build --parallel-workers 2 --packages-select franka_description panda_moveit_config
[0.326s] WARNING:colcon.colcon_core.package_augmentation.check_dependency_constraint:panda_moveit_config depends on franka_description which has version 0.0.0 but expects it to be greater than or equal to 0.10.0
Starting >>> franka_description
Finished <<< franka_description [0.74s]                  
Starting >>> panda_moveit_config
Finished <<< panda_moveit_config [0.50s]                  

Summary: 2 packages finished [1.40s]

root@130s-p16s:/cws# source install/setup.bash 
root@130s-p16s:/cws# ros2 launch moveit_setup_assistant setup_assistant.launch.py
[INFO] [launch]: All log files can be found below /root/.ros/log/2023-06-07-06-20-49-028319-130s-p16s-703
[INFO] [launch]: Default logging verbosity is set to INFO
[INFO] [moveit_setup_assistant-1]: process started with pid [704]
[moveit_setup_assistant-1] QStandardPaths: XDG_RUNTIME_DIR not set, defaulting to '/tmp/runtime-root'
[moveit_setup_assistant-1] [ERROR] [1686133261.047474865] [moveit_rdf_loader.rdf_loader]: File does not exist
[moveit_setup_assistant-1] [ERROR] [1686133263.965740426] [moveit_rdf_loader.rdf_loader]: File does not exist
:

URDF/COLLADA file not found: /cws/install/franka_description/share/franka_description/robots/panda/panda.urdf.xacro

UPDATE: I ended up running MSA 2.5.4 against franka_description from franka_ros2 frankaemika/franka_ros#344 to work these around.

130s · 2023-06-07T16:10:57Z

Runtime error while verifying demo.launch.py

# ros2 launch panda_moveit_config demo.launch.py
[INFO] [launch]: All log files can be found below /root/.ros/log/2023-06-07-11-57-12-903618-130s-p16s-1174
[INFO] [launch]: Default logging verbosity is set to INFO
Using load_yaml() directly is deprecated. Use xacro.load_yaml() instead.
WARNING:root:cartesian_limits.yaml is deprecated, please rename to pilz_cartesian_limits.yaml
[ERROR] [launch]: Caught exception in launch (see debug for traceback): Failed to handle type {'class': 'stomp_moveit/NormalDistributionSampling', 'stddev': [0.05, 0.8, 1.0, 0.8, 0.4, 0.4, 0.4]}

UPDATE: Resolved by stashing away the files generated in ros1 era.

…t_config#136)

rhaschke

Please stick to franka_description for the URDF! Only this one has the coarse collision models, which are also considered by the real robot's controller.

CMakeLists.txt

config/panda.srdf

rhaschke · 2023-06-13T16:45:22Z

config/panda.urdf.xacro

+    <xacro:arg name="initial_positions_file" default="initial_positions.yaml" />
+
+    <!-- Import panda urdf file -->
+    <xacro:include filename="$(find moveit_resources_panda_description)/urdf/panda.urdf" />


panda_moveit_config should rely on franka_description, not on moveit_resources_panda_description.

Pending decision in moveit/moveit2_tutorials#704

rhaschke · 2023-06-13T16:46:23Z

.setup_assistant

-    package: franka_description
-    relative_path: robots/panda/panda.urdf.xacro
-    xacro_args: hand:=true


panda_moveit_config should rely on franka_description, not on moveit_resources_panda_description.

Makes sense especially having seen your comment moveit/moveit2_tutorials#61 (comment), which tells me the switch from panda_moveit_config to moveit_resources_panda_moveit_config in moveit2_tutorial might be unlikely a widely agreed move. Then, the entire PR will have to be re-done because the PR at the time of writing is made referencing to the model files in moveit_resources_panda_description package. Made the PR back to draft state.

rhaschke · 2023-06-13T16:47:42Z

package.xml

  <name>panda_moveit_config</name>
-  <version>0.8.1</version>
+  <version>0.3.0</version>


I suggest switching to version 2.x

Why not 1.x, when the current version is 0.x?

I admit I do not remember why I was downgrading to 0.3.

package.xml

130s

This PR should still remain as draft before moveit/moveit2_tutorials#704 is closed. I updated other irrelevant review feedbacks.

130s · 2023-06-14T16:41:04Z

config/panda.urdf.xacro

+    <xacro:arg name="initial_positions_file" default="initial_positions.yaml" />
+
+    <!-- Import panda urdf file -->
+    <xacro:include filename="$(find moveit_resources_panda_description)/urdf/panda.urdf" />


Pending decision in moveit/moveit2_tutorials#704

130s · 2023-06-14T16:42:26Z

package.xml

  <name>panda_moveit_config</name>
-  <version>0.8.1</version>
+  <version>0.3.0</version>


Why not 1.x, when the current version is 0.x?

I admit I do not remember why I was downgrading to 0.3.

CMakeLists.txt

…e during ROS1 era

…rent to ros version.

…ai/main/doc/examples/perception_pipeline/perception_pipeline_tutorial.html)

… user/editors' convenience

rhaschke · 2023-09-28T13:34:25Z

Dear Isaac,
I want to emphasize again that a panda_moveit_config should not rely on the URDF from moveit_resources, because that's terribly outdated and only used for internal MoveIt testing.
Looking for ros2 packages from Franka, I found that they already provide a ros2 MoveIt config, called franka_moveit_config: https://support.franka.de/docs/franka_ros2.html#moveit
However, they haven't yet released anything.

130s · 2023-09-28T16:28:05Z

@rhaschke Sorry, (aside from the decision moveit/moveit2_tutorials#704 (comment)) I fully agree to keep this package away from moveit_resource. The push I made yesterday was just a sync, didn't mean to request re-review. I'll update this PR accordingly.

rhaschke · 2023-09-28T17:52:02Z

Aside from the franka_description stuff, I primarily wanted to point out that there is already a moveit_config package.
Maybe you can just use that or at least derive from it. (Unfortunately, they renamed the package.)

130s changed the title ~~WIP: ros2-ified~~ Draft: ros2-ified Jun 7, 2023

130s marked this pull request as draft June 7, 2023 09:43

130s mentioned this pull request Jun 7, 2023

ROS 2 Branch #133

Closed

130s force-pushed the feature-ros2-offof-rollingdevel branch from eb41a1e to 541538d Compare June 7, 2023 09:59

130s marked this pull request as ready for review June 7, 2023 16:42

130s changed the title ~~Draft: ros2-ified~~ ros2-ified Jun 7, 2023

130s requested a review from rhaschke June 7, 2023 16:42

130s force-pushed the feature-ros2-offof-rollingdevel branch from a496a64 to 838613a Compare June 7, 2023 17:43

130s mentioned this pull request Jun 7, 2023

ros2-ify perception pipeline moveit/moveit2_tutorials#700

Closed

4 tasks

130s added a commit to 130s/moveit2_tutorials that referenced this pull request Jun 9, 2023

MUST-REVERT: Point upstream to an unmerged branch (moveit/panda_movei…

782c455

…t_config#136)

130s added a commit to 130s/moveit2_tutorials that referenced this pull request Jun 9, 2023

MUST-REVERT: Point upstream to an unmerged branch (moveit/panda_movei…

1b4fc0a

…t_config#136)

rhaschke reviewed Jun 13, 2023

View reviewed changes

130s marked this pull request as draft June 14, 2023 15:57

130s force-pushed the feature-ros2-offof-rollingdevel branch from 8980ecd to f7efe7f Compare June 14, 2023 16:49

130s commented Jun 14, 2023

View reviewed changes

130s added 7 commits September 27, 2023 11:55

WIP: ros2-ified

aed0550

ros2-fy: Top-level xacro file path seems to have changed

9cc4845

ros2-fy: Merge with the files that are generated from MSA 2.5.4

1cf2272

ros2-fy: Separate the files in {config, launch} folders that were mad…

b2a2969

…e during ROS1 era

ros2-fy: Move back sensors_kinect_*.yaml in use, as they seem indiffe…

8846915

…rent to ros version.

sensor manager files (for perception tutorial https://moveit.picknik.…

60b6af1

…ai/main/doc/examples/perception_pipeline/perception_pipeline_tutorial.html)

Improve: Install .setup_assistant file and setup_assistant.launch for…

17561bf

… user/editors' convenience

130s force-pushed the feature-ros2-offof-rollingdevel branch from f7efe7f to 17561bf Compare September 27, 2023 15:56

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ros2-ified #136

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ros2-ified #136

Are you sure you want to change the base?

ros2-ified #136

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CoS

Impl approach

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