Sync master for ROS 2 Foxy Release #41
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…oveit#23) * cleanup definition of move_group capabilities * remove explicit loading of "Hybrid" collision detector As of moveit/moveit#1251, CHOMP uses automatically the hybrid collision detector.
Since ros-visualization/rviz#1365, link 4 is shown black only. Just loading and re-saving the STL with meshlab fixed the problem.
define ready and extended poses
Increase timeout accordingly to keep roughly the same behavior. Afaik kinetic still uses this branch as well, but should not be badly affected. The default attempt count was 2 there.
- package *_description folders
this turns it into an actual moveit_config editable by the setup assistant. As I regenerated the whole package, I removed most references to the ROS-Industrial source.
pulled from upstream repo and updated the paths as well as some minor changes required to use our version of panda_description.
Provide the same interface as fanuc
- Add preprocessed panda.srdf required by robot_model_test_utils - Fix location of panda.urdf
because packages require cmake > 3.1
| </group_state> | ||
| <!--END EFFECTOR: Purpose: Represent information about an end effector.--> | ||
| <!--VIRTUAL JOINT: Purpose: this element defines a virtual joint between a robot link and an external frame of reference (considered fixed with respect to the robot)--> | ||
| <virtual_joint name="virtual_joint" type="floating" parent_frame="world" child_link="panda_link0" /> |
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I Tested this with MoveIt 2 demo, changing virtual_joint's type from fixed to floating is causing multiple warning about 'world' frame and even I can't see the collision object in Rviz, I think we should revert the joint type to fixed
[run_moveit_cpp-4] [WARN] [1597423307.931377040] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: The complete state of the robot is not yet known. Missing virtual_joint
[rviz2-2] [ERROR] [1597423307.937559315] [moveit_transforms.transforms]: Unable to transform from frame 'world' to frame 'panda_link0'. Returning identity.
[rviz2-2] [WARN] [1597423307.937603940] [moveit_robot_state.conversions]: No joint matching multi-dof joint 'virtual_joint'
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If possible, we should keep the resources as close to MoveIt 1 as possible. Can't we just add the static transform publisher again? Also, did you try this on the master branch or the sync PR?
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I tested it with the master branch, I'll test it now with the sync PR
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The same is happening with the sync PR, too!
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Adding the static transform publisher doesn't seem to fix it
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static tf worked without any issues. Your error simply complains that rviz didn't get the robot_description_semantic parameter. Not sure what caused your first warning in run_moveit_cpp but I wasn't able to reproduce it. Instead of the hard-coded joint state I used the fixed extended pose in the demo.
I merged master into ros2 and fixed packages for ament/colcon and enabled Foxy on Travis.
Please don't merge until we've updated MoveIt 2 launch files to work with the new packages. Considering the changes that shouldn't be too much of an effort, though. After that, I would like to bump the version to 2.0 for the Foxy release so we're not running into conflicts anytime soon. Any suggestions for the changelog? Otherwise, I would just add a single entry for ROS2 migration and reference all related PRs.
When approved and ready, we should use a fast-forward merge.