Update pilz tutorials for POLYLINE planner#1075
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Will review this PR as I'm interested in testing POLYLINE. |
130s
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Thanks! I was able to execute the tutorial program. Just minor suggestions, basically approving.
Took a screenshot and posted on youtube https://www.youtube.com/watch?v=tfKC5PbwQZM Personally "how it looks when it works" for this Pilz and Moveit's RViz plugin is helpful so I suggest to include a link in the tutorial. I'm not trying to make money out of it :) but I understand if people yellow/red-flag agaist posting video link.
| - ``start_state/joint_state/(name, position and velocity``: joint | ||
| name/position of the start state. | ||
| - ``path_constraints``: a list of position constraints to be followed in | ||
| Cartesian space. Each waypoint is defined as a ``moveit_msgs::msg::PositionConstraint`` |
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| Cartesian space. Each waypoint is defined as a ``moveit_msgs::msg::PositionConstraint`` | |
| Cartesian space. Each waypoint is defined as a ``moveit_msgs::msg::PositionConstraint`` ([(link to jazzy)](https://docs.ros.org/en/jazzy/p/moveit_msgs/msg/PositionConstraint.html)) |
I find always nice to have a link to the official definition for data types. I don't know if there's a way to link to the appropriate version of the reference to the version of the moveit tutorial.
| item2.req.goal_constraints.push_back(kinematic_constraints::constructGoalConstraints("panda_hand", target_pose_item2)); | ||
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| // -------- Motion Sequence Items 3 | ||
| moveit_msgs::msg::MotionSequenceItem item3; |
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Btw, data structure the message Pilz uses may not be complexed but there are many ingredients in the hierarchy. Some visual like this eases my mind.
MotionSequenceItem
|-- MotionPlanRequest
|-- Constraints https://docs.ros.org/en/jazzy/p/moveit_msgs/msg/Constraints.html
|-- PositionConstraint https://docs.ros.org/en/jazzy/p/moveit_msgs/msg/PositionConstraint.html
|-- BoundingVolume https://docs.ros.org/en/jazzy/p/moveit_msgs/msg/BoundingVolume.html
|-- geometry_msgs/Pose
| plan_and_execute("[CIRC] Turn"); | ||
| } | ||
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| { |
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(This comment is for pilz_moveit.launch.py, which is not included in this PR. Referring to this line just to start a review thread)
Although it's likely out of the scope of this PR, pilz_moveit.launch.py file seems generic, there doesn't seem anything specific about either starting pilz specific processes, nor anything specific about tutorials (yes there are some specific things, which should be pass-able via arguments).
I'm guessing as a tutorial, it's valuable to have each tutorial as standalone project (then move_group.rviz is external to pilz tutorial part).
I don't know. Duplicating such generic files confuses me (especially in .launch.py format, which is hard for me to glimpse the content).
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@AimanHaidar Are you going to address the review comments? |
…ence.cpp Co-authored-by: Isaac Saito <130s@users.noreply.github.com>
…al_motion_planner.rst Co-authored-by: Isaac Saito <130s@users.noreply.github.com>
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@130s Thanks! |
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Description
This update the tutorials for the feature in #3610
I hope it turns out well.
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