[WIP] Update the robot state helper for ROS2 #6

livanov93 · 2020-11-12T18:22:53Z

Implementing convinient class for easy communication with robot for ROS2.

- ur5_moveit_config - ur_bringup - ur_description

Update package.xml, update ur_description launching

- No `roslaunch` and `rostest` rosdep keys in ROS2 - Remove `catkin` `exec_depend` - Renamed `rviz` rosdep key to `rviz2` - Reenable package `colcon build`

- Add `moveit_ci` Travis config for Foxy - Add `.ci.rosinstall` sources not yet released into Foxy

Fix below errors. Clean out unused `.cmake` files. Replace `FindGtestPackage.cmake` with `ament_add_gtest()`. Universal_Robots_Client_Library/CMakeLists.txt:16: Do not mix upper and lower case commands [readability/mixedcase] Universal_Robots_Client_Library/CMakeLists.txt:74: Extra spaces between 'if' and its () [whitespace/extra] Universal_Robots_Client_Library/CMakeModules/DefineCXX11CompilerFlag.cmake:4: Lines should be <= 80 characters long [linelength] Universal_Robots_Client_Library/CMakeModules/DefineCXX11CompilerFlag.cmake:13: Lines should be <= 80 characters long [linelength] Universal_Robots_Client_Library/CMakeModules/DefineCXX11CompilerFlag.cmake:33: Extra spaces between 'macro' and its () [whitespace/extra] Universal_Robots_Client_Library/CMakeModules/DefineCXX11CompilerFlag.cmake:41: Do not mix upper and lower case commands [readability/mixedcase] Universal_Robots_Client_Library/CMakeModules/DefineCXX11CompilerFlag.cmake:46: Do not mix upper and lower case commands [readability/mixedcase] Universal_Robots_Client_Library/CMakeModules/DefineCXX11CompilerFlag.cmake:48: Tab found; please use spaces [whitespace/tabs] Universal_Robots_Client_Library/CMakeModules/DefineCXX11CompilerFlag.cmake:50: Tab found; please use spaces [whitespace/tabs] Universal_Robots_Client_Library/CMakeModules/DefineCXX14CompilerFlag.cmake:4: Lines should be <= 80 characters long [linelength] Universal_Robots_Client_Library/CMakeModules/DefineCXX14CompilerFlag.cmake:13: Lines should be <= 80 characters long [linelength] Universal_Robots_Client_Library/CMakeModules/DefineCXX14CompilerFlag.cmake:33: Extra spaces between 'macro' and its () [whitespace/extra] Universal_Robots_Client_Library/CMakeModules/DefineCXX14CompilerFlag.cmake:41: Do not mix upper and lower case commands [readability/mixedcase] Universal_Robots_Client_Library/CMakeModules/DefineCXX14CompilerFlag.cmake:46: Do not mix upper and lower case commands [readability/mixedcase] Universal_Robots_Client_Library/CMakeModules/DefineCXX14CompilerFlag.cmake:48: Tab found; please use spaces [whitespace/tabs] Universal_Robots_Client_Library/CMakeModules/DefineCXX14CompilerFlag.cmake:50: Tab found; please use spaces [whitespace/tabs] Universal_Robots_Client_Library/CMakeModules/DefineCXX17CompilerFlag.cmake:4: Lines should be <= 80 characters long [linelength] Universal_Robots_Client_Library/CMakeModules/DefineCXX17CompilerFlag.cmake:13: Lines should be <= 80 characters long [linelength] Universal_Robots_Client_Library/CMakeModules/DefineCXX17CompilerFlag.cmake:33: Extra spaces between 'macro' and its () [whitespace/extra] Universal_Robots_Client_Library/CMakeModules/DefineCXX17CompilerFlag.cmake:41: Do not mix upper and lower case commands [readability/mixedcase] Universal_Robots_Client_Library/CMakeModules/DefineCXX17CompilerFlag.cmake:46: Do not mix upper and lower case commands [readability/mixedcase] Universal_Robots_Client_Library/CMakeModules/DefineCXX17CompilerFlag.cmake:48: Tab found; please use spaces [whitespace/tabs] Universal_Robots_Client_Library/CMakeModules/DefineCXX17CompilerFlag.cmake:50: Tab found; please use spaces [whitespace/tabs] Universal_Robots_Client_Library/CMakeModules/FindGTestPackage.cmake:0: Find modules should use uppercase names; consider using FindGTESTPACKAGE.cmake [convention/filename] Universal_Robots_Client_Library/CMakeModules/FindGTestPackage.cmake:4: Lines should be <= 80 characters long [linelength] Universal_Robots_Client_Library/CMakeModules/FindGTestPackage.cmake:14: Lines should be <= 80 characters long [linelength] Universal_Robots_Client_Library/CMakeModules/FindGTestPackage.cmake:15: Lines should be <= 80 characters long [linelength] Universal_Robots_Client_Library/CMakeModules/FindGTestPackage.cmake:23: Lines should be <= 80 characters long [linelength] Universal_Robots_Client_Library/CMakeModules/FindGTestPackage.cmake:34: Tab found; please use spaces [whitespace/tabs] Universal_Robots_Client_Library/CMakeModules/FindGTestPackage.cmake:37: Tab found; please use spaces [whitespace/tabs] Universal_Robots_Client_Library/CMakeModules/FindGTestPackage.cmake:39: Tab found; please use spaces [whitespace/tabs] Universal_Robots_Client_Library/CMakeModules/FindGTestPackage.cmake:41: Tab found; please use spaces [whitespace/tabs] Universal_Robots_Client_Library/CMakeModules/FindGTestPackage.cmake:43: Tab found; please use spaces [whitespace/tabs] Universal_Robots_Client_Library/CMakeModules/FindGTestPackage.cmake:44: Tab found; please use spaces [whitespace/tabs] Universal_Robots_Client_Library/CMakeModules/FindGTestPackage.cmake:49: Line ends in whitespace [whitespace/eol] Universal_Robots_Client_Library/CMakeModules/FindGTestPackage.cmake:62: Mismatching spaces inside () after command [whitespace/mismatch] Universal_Robots_Client_Library/CMakeModules/FindGTestPackage.cmake:74: Line ends in whitespace [whitespace/eol] Universal_Robots_Client_Library/CMakeModules/FindGTestPackage.cmake:82: Line ends in whitespace [whitespace/eol] Universal_Robots_Client_Library/CMakeModules/FindGTestPackage.cmake:90: Tab found; please use spaces [whitespace/tabs] Universal_Robots_Client_Library/CMakeModules/FindGTestPackage.cmake:100: Line ends in whitespace [whitespace/eol] Universal_Robots_Client_Library/CMakeModules/FindGTestPackage.cmake:110: Line ends in whitespace [whitespace/eol] Universal_Robots_Client_Library/CMakeModules/FindGTestPackage.cmake:121: Tab found; please use spaces [whitespace/tabs] Universal_Robots_Client_Library/CMakeModules/FindGTestPackage.cmake:128: Expression repeated inside endfunction; better to use only endfunction() [readability/logic] Universal_Robots_Client_Library/CMakeModules/FindGTestPackage.cmake:0: Package should include FindPackageHandleStandardArgs [package/consistency] Universal_Robots_Client_Library/CMakeModules/FindGTestPackage.cmake:0: Package should use FIND_PACKAGE_HANDLE_STANDARD_ARGS [package/consistency] Universal_Robots_Client_Library/examples/CMakeLists.txt:10: Do not mix upper and lower case commands [readability/mixedcase] Universal_Robots_Client_Library/tests/CMakeLists.txt:20: Extra spaces between 'if' and its () [whitespace/extra] Universal_Robots_Client_Library/tests/CMakeLists.txt:26: Do not mix upper and lower case commands [readability/mixedcase] Universal_Robots_Client_Library/tests/CMakeLists.txt:30: Extra spaces between 'if' and its () [whitespace/extra] deprecated_ros1_pkgs/ur_calibration/CMakeLists.txt:61: Extra spaces between 'if' and its () [whitespace/extra]

Compiler errors in unrelated `geometric_shapes` build Starting >>> geometric_shapes --- stderr: geometric_shapes In file included from /opt/ws_moveit/src/upstream/geometric_shapes/src/bodies.cpp:44: /usr/include/libqhull_r/libqhull_r.h:1057:9: error: redundant redeclaration of ‘void qh_printsummary(qhT*, FILE*)’ in same scope [-Werror=redundant-decls] 1057 | void qh_printsummary(qhT *qh, FILE *fp); | ^~~~~~~~~~~~~~~ /usr/include/libqhull_r/libqhull_r.h:1024:9: note: previous declaration of ‘void qh_printsummary(qhT*, FILE*)’ 1024 | void qh_printsummary(qhT *qh, FILE *fp); | ^~~~~~~~~~~~~~~ /usr/include/libqhull_r/libqhull_r.h:1099:6: error: redundant redeclaration of ‘void qh_meminit(qhT*, FILE*)’ in same scope [-Werror=redundant-decls] 1099 | void qh_meminit(qhT *qh, FILE *ferr); | ^~~~~~~~~~ In file included from /usr/include/libqhull_r/libqhull_r.h:31, from /opt/ws_moveit/src/upstream/geometric_shapes/src/bodies.cpp:44: /usr/include/libqhull_r/mem_r.h:218:6: note: previous declaration of ‘void qh_meminit(qhT*, FILE*)’ 218 | void qh_meminit(qhT *qh, FILE *ferr); | ^~~~~~~~~~ In file included from /opt/ws_moveit/src/upstream/geometric_shapes/src/bodies.cpp:44: /usr/include/libqhull_r/libqhull_r.h:1100:6: error: redundant redeclaration of ‘void qh_memfreeshort(qhT*, int*, int*)’ in same scope [-Werror=redundant-decls] 1100 | void qh_memfreeshort(qhT *qh, int *curlong, int *totlong); | ^~~~~~~~~~~~~~~ In file included from /usr/include/libqhull_r/libqhull_r.h:31, from /opt/ws_moveit/src/upstream/geometric_shapes/src/bodies.cpp:44: /usr/include/libqhull_r/mem_r.h:217:6: note: previous declaration of ‘void qh_memfreeshort(qhT*, int*, int*)’ 217 | void qh_memfreeshort(qhT *qh, int *curlong, int *totlong); | ^~~~~~~~~~~~~~~ In file included from /opt/ws_moveit/src/upstream/geometric_shapes/src/bodies.cpp:44: /usr/include/libqhull_r/libqhull_r.h:1123:9: error: redundant redeclaration of ‘void qh_collectstatistics(qhT*)’ in same scope [-Werror=redundant-decls] 1123 | void qh_collectstatistics(qhT *qh); | ^~~~~~~~~~~~~~~~~~~~ In file included from /usr/include/libqhull_r/libqhull_r.h:121, from /opt/ws_moveit/src/upstream/geometric_shapes/src/bodies.cpp:44: /usr/include/libqhull_r/stat_r.h:515:9: note: previous declaration of ‘void qh_collectstatistics(qhT*)’ 515 | void qh_collectstatistics(qhT *qh); | ^~~~~~~~~~~~~~~~~~~~ In file included from /opt/ws_moveit/src/upstream/geometric_shapes/src/bodies.cpp:44: /usr/include/libqhull_r/libqhull_r.h:1124:9: error: redundant redeclaration of ‘void qh_printallstatistics(qhT*, FILE*, const char*)’ in same scope [-Werror=redundant-decls] 1124 | void qh_printallstatistics(qhT *qh, FILE *fp, const char *string); | ^~~~~~~~~~~~~~~~~~~~~ In file included from /usr/include/libqhull_r/libqhull_r.h:121, from /opt/ws_moveit/src/upstream/geometric_shapes/src/bodies.cpp:44: /usr/include/libqhull_r/stat_r.h:519:9: note: previous declaration of ‘void qh_printallstatistics(qhT*, FILE*, const char*)’ 519 | void qh_printallstatistics(qhT *qh, FILE *fp, const char *string); | ^~~~~~~~~~~~~~~~~~~~~ cc1plus: all warnings being treated as errors make[2]: *** [CMakeFiles/geometric_shapes.dir/build.make:76: CMakeFiles/geometric_shapes.dir/src/bodies.cpp.o] Error 1 make[1]: *** [CMakeFiles/Makefile2:137: CMakeFiles/geometric_shapes.dir/all] Error 2 make: *** [Makefile:141: all] Error 2 --- Failed <<< geometric_shapes [29.4s, exited with code 2]

Better enable `ament_xmllint` to check validity.

Set emacs `cmake-mode` variables to match `ament_lint_cmake` settings

@AndyZe

Building against `moveit2` causes warnings, disallowed in CI. @AndyZe wrote, > Yeah, I think CI won't pass because MoveIt2 is fixed on older > commits of ros2_control. Check out > https://github.com/ros-planning/moveit2/blob/a810037e697c25e8df74a049fed6cca55ff8e874/moveit2.repos#L23

This reverts commit cc17021. rosdep install -y -q -n --from-paths . --ignore-src --rosdistro foxy ERROR: the following packages/stacks could not have their rosdep keys resolved to system dependencies: ur5_moveit_config: Cannot locate rosdep definition for [moveit_simple_controller_manager] The command "rosdep install -y -q -n --from-paths . --ignore-src --rosdistro foxy" failed [trial 1 of 3]. [...] The command "rosdep install -y -q -n --from-paths . --ignore-src --rosdistro foxy" failed with error code 1.

This triggers a rosidl bug. See ros2/rosidl_typesupport_fastrtps#28

* Updating ur_robot_driver include guards and namespaces * Compile the ros_control plugin, inherit from components::SystemInterface * Do away with intermediate SystemInterface class * Implement configure() * Add controller_manager launch file * Cleanup and clang format

…ctoring.

destogl

This looks fine, but I am not sure how it should work in ros2_control.... @livanov93 can you comment?

destogl · 2021-04-06T09:21:44Z

ur_robot_driver/src/robot_state_helper.cpp

+          default:
+            RCLCPP_WARN_STREAM(logger, "The robot is currently in mode " << robotModeString(robot_mode_)
+                                                                         << ". This won't be handled by this helper. "
+                                                                            "Please "


This is a strange layout....

destogl · 2021-04-06T09:22:14Z

ur_robot_driver/src/robot_state_helper.cpp

+                      "non-success: " +
+                      result.get()->message;


Suggested change

"non-success: " +

result.get()->message;

"non-success: " + result.get()->message;

destogl · 2021-04-08T10:51:52Z

@livanov93 Is this sill used?

livanov93 · 2021-04-28T20:16:22Z

In general, in the ROS1 version, this was a convenient node for interacting with the robot via services and simple SimpleActionClient/Server that are registered in the "main" driver node. However, the biggest problem was that there was no SimpleActionClient/Server abstraction in the ROS2 at the start of this PR. This was the reason the PR development was postponed. It can be done with the existing ROS2 actionlib but the logic within the node will get more complex than it was before.

fmauch · 2024-06-17T09:51:58Z

Closing this in favor of #933

AndyZe and others added 30 commits October 30, 2020 08:21

Move pkgs that will not be initially ported into a subfolder

3822b11

Add ur5_moveit_config, ur_bringup, ur_description pkgs

e66c9d8

Change pkg versions to 0.0.0

30b0043

Update CMakeLists and package.xml for:

fb5b300

- ur5_moveit_config - ur_bringup - ur_description

COLCON_IGNORE deprecated pkgs

e3909d8

Clean out ur_controllers, it needs a complete rewrite

1d282b4

Add a copy of the ROS1 ur_client_library

c8f9bd7

COLCON_IGNORE ur_client_library (will build with CMake instead)

fd6c65a

Initial work toward compiling ur_robot_driver

a037c66

Delete all launch/config files with no UR5 relation

a2b78aa

Compile ur_dashboard_msgs for ROS2

cc16d40

Clean out ur_robot_driver for initial ROS2 compilation

ae73b91

Update package.xml files so ros2 pkg list shows all pkgs

48ed68a

Simplify ur_description URDF, eliminate parsing

f414683

Merge pull request #1 from PickNikRobotics/andyz/fixup_package_xml

7850f61

Update package.xml, update ur_description launching

Update packaging for ROS2

9c7c674

- No `roslaunch` and `rostest` rosdep keys in ROS2 - Remove `catkin` `exec_depend` - Renamed `rviz` rosdep key to `rviz2` - Reenable package `colcon build`

Add moveit_ci config and update .rosinstall

9fb6dcd

- Add `moveit_ci` Travis config for Foxy - Add `.ci.rosinstall` sources not yet released into Foxy

Add XML schema to all package.xml files

4340011

Better enable `ament_xmllint` to check validity.

ur_client_library: Remove catkin from CMakeLists

68e4b24

Add .dir-locals.el setting cmake-mode vars

b426d68

Set emacs `cmake-mode` variables to match `ament_lint_cmake` settings

Reset ur_client_library to 0.0.0

c0f827a

Remove deprecated, unused ur_calibration package

abaa258

README: Update build instructions

23bcfbe

Use a fork of UR_Client_Library rather than copy/pasting into this repo

1c3972d

Remove ur5_moveit_config from CI, remove moveit stuff from .repos.yaml

b584d29

Comment MoveIt2 deps until debians are available

9e2a018

AndyZe and others added 6 commits November 7, 2020 22:25

Ignore -Wredundant-decls warnings in CI testing

1563c56

This triggers a rosidl bug. See ros2/rosidl_typesupport_fastrtps#28

Delete controller_stopper and ur_bringup pkgs

3d56e3f

Load UR5 SRDF too

458b60d

Add move_group launch file

5f6fd85

Add robot_state_helper into build process. Prepare for additionl refa…

5de42f6

…ctoring.

livanov93 changed the title ~~Add robot_state_helper into build process. Prepare for additionl refa…~~ Update the robot sate helper for ROS2 Nov 12, 2020

livanov93 changed the title ~~Update the robot sate helper for ROS2~~ [WIP] Update the robot sate helper for ROS2 Nov 12, 2020

livanov93 added 5 commits November 12, 2020 19:33

Initialize service client in the helper constructor.

29e9853

Prepare set mode action server.

938ff95

Create separate cbs for accept, cancel and receive goal.

4d03bb0

Remove build folder.

7511a23

Comment goal and preempt callbacks for simple action client option.

6eec8a9

AndyZe changed the title ~~[WIP] Update the robot sate helper for ROS2~~ [WIP] Update the robot state helper for ROS2 Nov 16, 2020

destogl reviewed Apr 6, 2021

View reviewed changes

AndyZe force-pushed the develop branch from cd57316 to 83d8c75 Compare April 14, 2021 15:46

delete-merged-branch bot deleted the branch develop April 14, 2021 15:47

fmauch added this to the ROS1 feature parity milestone Jun 28, 2022

marioesteban11 mentioned this pull request Nov 29, 2022

Doubt about the instalation of a REAL-Time kernel in linux #542

Closed

johannesWen mentioned this pull request Apr 24, 2023

Failed to extract calibration_correction from robot #638

Closed

fmauch mentioned this pull request Oct 16, 2023

Port robot_state_helper from ROS1 #844

Open

4 tasks

Sohaib-Snouber mentioned this pull request Apr 30, 2024

Sending urscript in remote control mode while UR_Driver running #982

Closed

1 task

fmauch closed this Jun 17, 2024

fmauch deleted the livanov/update_robot_state_helper branch June 17, 2024 09:52

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[WIP] Update the robot state helper for ROS2 #6

[WIP] Update the robot state helper for ROS2 #6

livanov93 commented Nov 12, 2020 •

edited

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destogl Apr 6, 2021

destogl Apr 6, 2021

destogl commented Apr 8, 2021

livanov93 commented Apr 28, 2021

fmauch commented Jun 17, 2024

	"non-success: " +
	result.get()->message;
	"non-success: " + result.get()->message;

[WIP] Update the robot state helper for ROS2 #6

[WIP] Update the robot state helper for ROS2 #6

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livanov93 commented Nov 12, 2020 • edited Loading

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destogl commented Apr 8, 2021

livanov93 commented Apr 28, 2021

fmauch commented Jun 17, 2024

livanov93 commented Nov 12, 2020 •

edited

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