Set controller names in Demo pick and place task #582
Closed
Conversation
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
Looks like Rolling's MoveIt uses a more relaxed goal constraint threshold than Humble. For this reason, all end states reached by Connect solutions of pick+place demo are rejected. This commit relaxes the max_distance threshold of Connect accordingly.
- Unify move_to.launch.py and test_task_model.launch.py - Rename them to test.launch.py as they are independent of the executable - Move Node creation to the fixture constructor - Replace Task::setRobotModel(loadModel()) with Task::loadRobotModel()
Using quick_exit instead of return/exit avoids calling all cleanup functions, which fail due to a bug in rmw_fastrtps_cpp.
|
This warning was not introduced by me and I think it is not well-motivated. Your PR looks good to fix those. However, please target the ros2 branch. |
|
If the joints of motion can be executed by multiple controllers (i.e. position, position with compliance, torque) how do you tell MoveIt which one it should use to execute? |
|
Often, there is only one controller applicable. Also, we have defaults as far as I remember. The warning should actually only trigger when there is ambiguity. |
MarqRazz
force-pushed
the
set_traj_exec_info
branch
from
12fd10f to
edf2605
Compare
|
Sorry that rebase didn't go as expected. I'll get this cleaned up and tested the |
Sign up for free
to join this conversation on GitHub.
Already have an account?
Sign in to comment
Add this suggestion to a batch that can be applied as a single commit.
This suggestion is invalid because no changes were made to the code.
Suggestions cannot be applied while the pull request is closed.
Suggestions cannot be applied while viewing a subset of changes.
Only one suggestion per line can be applied in a batch.
Add this suggestion to a batch that can be applied as a single commit.
Applying suggestions on deleted lines is not supported.
You must change the existing code in this line in order to create a valid suggestion.
Outdated suggestions cannot be applied.
This suggestion has been applied or marked resolved.
Suggestions cannot be applied from pending reviews.
Suggestions cannot be applied on multi-line comments.
Suggestions cannot be applied while the pull request is queued to merge.
Suggestion cannot be applied right now. Please check back later.
To remove the following warnings when running the Demo Pick and Place task we need to specify the controllers the task should use.