jazzy対応（MoveitConfigsBuilder） #78
Open
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
* MoveitCofigsBuilderを使ってmoveit_configの枠を作る * planning_plugins, requesr_adaptorsの設定をompl_planning.yamlの先頭で行う * ompl_planning.yamlにstart_state_max_bounds_errorの設定を追加 * 7/19ここまで * MoveitConfigsBuilderを使うに伴った、yamlファイルの指定の項目追加 * 一通りMoveItConfigsBuilderに対応 * MoveIt Setup Assistantを使って設定ファイルを生成 * urdfの指定を追加 * crane_plus_configのrun_move_group.launchを呼ぶ * Unable to parse SRDFのエラーが解決できない * demo.launchが起動できるようになった * 余計なコメントアウト部分削除 * 余計なコメントアウト削除 * rviz上でMottionPlanningができるようになった * 余計なコメントアウト削除
Kuwamai
requested changes
Aug 14, 2024
|
CIに関してはSciurus17と同様に、こちらのenv内のhumbleをjazzyに変更お願いします |
Kuwamai
requested changes
Sep 13, 2024
| @@ -56,5 +56,4 @@ docs/_build/ | |||
| # PyBuilder | |||
| target/ | |||
| .pytest_cache | |||
|
|
|||
| @@ -30,7 +30,7 @@ def generate_launch_description(): | |||
| default_value='/dev/ttyUSB0', | |||
| description='Set port name.' | |||
| ) | |||
|
|
|||
There was a problem hiding this comment.
crane_plus_moveit_config/package.xml
Outdated
| <exec_depend>rviz_common</exec_depend> | ||
| <exec_depend>rviz_default_plugins</exec_depend> | ||
| <exec_depend>tf2_ros</exec_depend> | ||
| <exec_depend>warehouse_ros_mongo</exec_depend> |
There was a problem hiding this comment.
Setup assistantから生成されていると思うのですが、warehouse_ros_mongoがjazzyでリリースされておらず、CIでエラーが生じています。こちら消しちゃってください。
There was a problem hiding this comment.
<exec_depend>warehouse_ros_mongo</exec_depend>を削除いたしました
|
|
||
| <test_depend>ament_lint_auto</test_depend> | ||
| <test_depend>ament_lint_common</test_depend> | ||
|
|
||
There was a problem hiding this comment.
Setup assistant由来かわかりませんが不要なスペースがあるので削除お願いします。
Comment on lines
29
to
39
| def load_file(package_name, file_path): | ||
| package_path = get_package_share_directory(package_name) | ||
| absolute_file_path = os.path.join(package_path, file_path) | ||
|
|
||
| try: | ||
| with open(absolute_file_path, 'r') as file: | ||
| with open(absolute_file_path, "r") as file: | ||
| return file.read() | ||
| except EnvironmentError: # parent of IOError, OSError *and* WindowsError where available | ||
| except ( | ||
| EnvironmentError | ||
| ): # parent of IOError, OSError *and* WindowsError where available | ||
| return None |
There was a problem hiding this comment.
こちらの関数もう使ってないと思うので削除お願いします。
Comment on lines
44
to
52
| absolute_file_path = os.path.join(package_path, file_path) | ||
|
|
||
| try: | ||
| with open(absolute_file_path, 'r') as file: | ||
| with open(absolute_file_path, "r") as file: | ||
| return yaml.safe_load(file) | ||
| except EnvironmentError: # parent of IOError, OSError *and* WindowsError where available | ||
| except ( | ||
| EnvironmentError | ||
| ): # parent of IOError, OSError *and* WindowsError where available | ||
| return None |
There was a problem hiding this comment.
こちらの関数ももう使っていないので削除お願いします。
Comment on lines
-58
to
-62
| declare_rviz_config_file = DeclareLaunchArgument( | ||
| 'rviz_config_file', | ||
| default_value=get_package_share_directory( | ||
| 'crane_plus_moveit_config') + '/launch/run_move_group.rviz', | ||
| description='Set the path to rviz configuration file.' |
There was a problem hiding this comment.
これを削除してしまうとRVizのコンフィグファイルが変更できないかと思います。
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.
What does this implement/fix?
MoveitConfigsBuilderについてのJazzy対応です。
Does this close any currently open issues?
How has this been tested?
crane_prus_exampleのdemo.launchとサンプルプログラムを使って、humble環境と同じように動作するか確認しました。
Any other comments?
誤ってhumble_develブランチから本作業ブランチを切っていたため、改めてmasterブランチから作業ブランチを作成し、複数あったコミットを一つに集約した上でこちらのブランチにコピーし、PR作成しております。
Checklists