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Fixed the wrong type for time parameterization in ompl (#55) #65

Merged
merged 1 commit into from
Apr 19, 2024
Merged

Fixed the wrong type for time parameterization in ompl (#55) #65

merged 1 commit into from
Apr 19, 2024

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Yadunund
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Backport Fix to #54

@jodle001 @Yadunund
Fixed the wrong type for time parameterization in ompl (#55)
37c831a 
* Fixed the wrong type for time parameterization in ompl

* Updated to use the MoveItConfigsBuilder

* Optimized the imports.

* Update abb_bringup/launch/abb_moveit.launch.py

Removed hard coded config package

Co-authored-by: Yadu <[email protected]>

* Update abb_bringup/launch/abb_moveit.launch.py

added argument names for clarity.

Co-authored-by: Yadu <[email protected]>

* Update package.xml

Added moveit_configs_utils dependency to package.xml

* Formatting adn also publishing robot_description and semantic

* Fixed formatting to pass format test per requeset by Yadunund.

* Used pre-commit to fix formatting locally.

* Removed planning pipeline limits to ompl planner, also added pilz_cartesian_limits yaml.

---------

Co-authored-by: Yadu <[email protected]>
@Yadunund
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@WhittemoreChou do you mind testing this branch to see if it resolves #64?

@WhittemoreChou
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WhittemoreChou commented Apr 14, 2024 •
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@WhittemoreChou do you mind testing this branch to see if it resolves #64?

Sorry for my late reply. It now moves! Thanks for your quick solve.
But some new warnings occur as
WARNING:root:Cannot infer URDF from /home/rosegm/ros_dev/egm/install/abb_irb1200_5_90_moveit_config/share/abb_irb1200_5_90_moveit_config. -- using config/abb_bringup.urdf WARNING:root:Cannot infer SRDF from /home/rosegm/ros_dev/egm/install/abb_irb1200_5_90_moveit_config/share/abb_irb1200_5_90_moveit_config. -- using config/abb_bringup.srdf

[move_group-1] [ERROR] [1713054841.006524743] [moveit.ros_planning.planning_pipeline]: Exception while loading planner 'chomp_interface/CHOMPPlanner': According to the loaded plugin descriptions the class chomp_interface/CHOMPPlanner with base class type planning_interface::PlannerManager does not exist. Declared types are ompl_interface/OMPLPlanner pilz_industrial_motion_planner/CommandPlannerAvailable plugins: ompl_interface/OMPLPlanner, pilz_industrial_motion_planner/CommandPlanner

[move_group-1] [ERROR] [1713054841.010502628] [moveit.ros_planning_interface.moveit_cpp]: Failed to initialize planning pipeline 'chomp'.

@Yadunund
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The warnings can be ignored.

The chomp error should be resolved if you run rosdep from the workspace. That should install moveit_planners_chomp.

@WhittemoreChou
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The warnings can be ignored.

The chomp error should be resolved if you run rosdep from the workspace. That should install moveit_planners_chomp.

Thanks, I've successfully tested it on my real robot as well.

@Yadunund
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Great thanks for testing. I will merge this in.

@Yadunund Yadunund merged commit 0b4b29e into humble Apr 19, 2024
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3 participants
@Yadunund @WhittemoreChou @jodle001