Initial port to ROS 2 #41
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Signed-off-by: ahcorde <[email protected]>
Signed-off-by: ahcorde <[email protected]>
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Do you think the rrbot_gazebo and rrbot_control packages will ever be used? If not, they could be removed instead of ignored.
The robot is launched on Gazebo and RViz for me, but it doesn't move. I see this error message:
[run_moveit_cpp-4] [ERROR] [1612312888.650904331] [moveit.ros_planning_interface.moveit_cpp]: Execution failed! No active controllers configured for group 'rrbot_arm'
rrbot_moveit_demo_nodes/package.xml
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| <package format="3"> | ||
| <name>rrbot_moveit_demo_nodes</name> | ||
| <version>0.0.0</version> | ||
| <description>Config and launch files to run rrbot demos with ROS 2, gazebo and moveit2</description> |
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Could this package maybe replace rrbot_gazebo?
Also, I think you're missing some Gazebo dependencies here
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@ahcorde , I'm not sure what the answer is. I see you also ported rrbot_gazebo, so I guess they serve different purposes. How about documenting both on the README?
Signed-off-by: ahcorde <[email protected]>
Signed-off-by: ahcorde <[email protected]>
Signed-off-by: ahcorde <[email protected]>
Signed-off-by: ahcorde <[email protected]>
Signed-off-by: ahcorde <[email protected]>
Signed-off-by: ahcorde <[email protected]>
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Not clear to me what the goals are of this ROS2 port, but much of the example functionality I worked hard to add to Gazebo is being disabled/removed/forgotten in this PR. And I want to make sure that is deliberate.
If it is deliberate, just delete the old code rather than having it hang around as crust.
If you intend to port it soon, document that so it doesn't forgotten.
Overall I find this effort messy, as parts of this code are referenced in the Gazebo tutorials (I wrote this) and disabling it is likely to break those tutorials
README.md
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| # Gazebo ROS Demos | |||
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| * Author: Dave Coleman <[email protected]> | |||
| * Author: Alejandro Hernández | |||
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I'd be in favor of simply removing this line... we're both authors, but so are many others who have contributed to this repo.
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Does it make sense to copy this code into here? Or depend on it from the moveit project? It will likely get out of sync here
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the group name was hardcoded in the moveit2 tutorials, I decided to move this here.
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maybe we should update the moveit tutorial to not hardcode the group name... @henningkayser @JafarAbdi what do you think?
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The effort here was focus to create some packages that allow to run For this reason I ported/created:
@davetcoleman you are the author and maintainer of this packages, let me know how do you envision this package. I will be happy to make the appropriate changes. |
Signed-off-by: ahcorde <[email protected]>
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maybe we should update the moveit tutorial to not hardcode the group name... @henningkayser @JafarAbdi what do you think?
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@ahcorde please reach out via email when you want me to review again |
Signed-off-by: ahcorde <[email protected]>
Signed-off-by: ahcorde <[email protected]>
This PR depends on this other PR ros-controls/gazebo_ros2_control#44
Great news! Moveit2 and gazebo it's working! Thank you the effort done in ros2_control and gazebo_ros2_control. I have created a simple example to move the joints of rrbot with moveit2 (which is already available in Foxy like ros2_control).
I moved these packages from gazebo_ros2_control because I think it makes more sense to keep the ros1 structure and port this repository to ROS 2. Not sure if the moveit related packages should live here too.
Signed-off-by: ahcorde [email protected]