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Add param for vel scaling of the scan movement #240

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Add param for vel scaling of the scan movement #240

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1 change: 1 addition & 0 deletions godel_msgs/msg/RobotScanParameters.msg
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Original file line number Diff line number Diff line change
@@ -1,5 +1,6 @@
# path planning
string group_name
float64 move_scan_vel_scaling
string home_position
string world_frame
string tcp_frame
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2 changes: 2 additions & 0 deletions godel_plugins/src/widgets/robot_scan_configuration.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -82,6 +82,7 @@ void godel_plugins::RobotScanConfigWidget::update_gui_fields()
ui_.LineEditWorldFrame->setText(QString::fromStdString(params_.world_frame));
ui_.LineEditTcpFrame->setText(QString::fromStdString(params_.tcp_frame));
ui_.LineEditGroupName->setText(QString::fromStdString(params_.group_name));
ui_.LineEditMoveScanVelScaling->setText(QString::number(params_.move_scan_vel_scaling));
ui_.CheckBoxStopOnPlanningError->setChecked(params_.stop_on_planning_error);

world_to_obj_pose_widget_->set_values(params_.world_to_obj_pose);
Expand All @@ -102,6 +103,7 @@ void godel_plugins::RobotScanConfigWidget::update_internal_values()
params_.world_frame = ui_.LineEditWorldFrame->text().toStdString();
params_.tcp_frame = ui_.LineEditTcpFrame->text().toStdString();
params_.group_name = ui_.LineEditGroupName->text().toStdString();
params_.move_scan_vel_scaling = ui_.LineEditMoveScanVelScaling->text().toDouble();
params_.stop_on_planning_error = ui_.CheckBoxStopOnPlanningError->isChecked();

tf::poseTFToMsg(world_to_obj_pose_widget_->get_values(), params_.world_to_obj_pose);
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31 changes: 27 additions & 4 deletions godel_plugins/src/widgets/robot_scan_configuration.ui
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Original file line number Diff line number Diff line change
Expand Up @@ -7,7 +7,7 @@
<x>0</x>
<y>0</y>
<width>540</width>
<height>563</height>
<height>583</height>
</rect>
</property>
<property name="font">
Expand Down Expand Up @@ -105,7 +105,7 @@
<x>30</x>
<y>40</y>
<width>281</width>
<height>441</height>
<height>461</height>
</rect>
</property>
<property name="frameShape">
Expand Down Expand Up @@ -299,13 +299,36 @@
</widget>
</item>
<item row="12" column="0">
<widget class="QLabel" name="moveScanVelScalingLabel">
<property name="text">
<string>Move Scan Vel Scaling</string>
</property>
</widget>
</item>
<item row="12" column="1">
<widget class="QLineEdit" name="LineEditMoveScanVelScaling">
<property name="inputMethodHints">
<set>Qt::ImhDigitsOnly</set>
</property>
<property name="inputMask">
<string/>
</property>
<property name="text">
<string/>
</property>
<property name="maxLength">
<number>8</number>
</property>
</widget>
</item>
<item row="13" column="0">
<widget class="QLabel" name="stopOnPlanningErrorLabel">
<property name="text">
<string>Stop On Plan Error</string>
</property>
</widget>
</item>
<item row="12" column="1">
<item row="13" column="1">
<widget class="QCheckBox" name="CheckBoxStopOnPlanningError"/>
</item>
</layout>
Expand Down Expand Up @@ -341,7 +364,7 @@
<property name="geometry">
<rect>
<x>33</x>
<y>500</y>
<y>520</y>
<width>491</width>
<height>33</height>
</rect>
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1 change: 1 addition & 0 deletions godel_robots/abb/godel_irb1200/godel_irb1200_support/config/robot_scan.yaml
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Original file line number Diff line number Diff line change
@@ -1,5 +1,6 @@
robot_scan:
group_name: manipulator_asus
move_scan_vel_scaling: 1
home_position: home_asus
world_frame: world_frame
tcp_frame: kinect2_move_frame
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1 change: 1 addition & 0 deletions godel_robots/abb/godel_irb2400/godel_irb2400_support/config/robot_scan.yaml
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Original file line number Diff line number Diff line change
@@ -1,5 +1,6 @@
robot_scan:
group_name: manipulator_asus
move_scan_vel_scaling: 1
home_position: home_asus
world_frame: world_frame
tcp_frame: kinect2_move_frame
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2 changes: 2 additions & 0 deletions godel_simple_gui/src/options/robot_scan_configuration.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -40,6 +40,7 @@ void godel_simple_gui::RobotScanConfigWidget::update_display_fields()
ui_->LineEditWorldFrame->setText(QString::fromStdString(params_.world_frame));
ui_->LineEditTcpFrame->setText(QString::fromStdString(params_.tcp_frame));
ui_->LineEditGroupName->setText(QString::fromStdString(params_.group_name));
ui_->LineEditMoveScanVelScaling->setText(QString::number(params_.move_scan_vel_scaling));
ui_->CheckBoxStopOnPlanningError->setChecked(params_.stop_on_planning_error);

world_to_obj_pose_widget_->set_values(params_.world_to_obj_pose);
Expand All @@ -60,6 +61,7 @@ void godel_simple_gui::RobotScanConfigWidget::update_internal_fields()
params_.world_frame = ui_->LineEditWorldFrame->text().toStdString();
params_.tcp_frame = ui_->LineEditTcpFrame->text().toStdString();
params_.group_name = ui_->LineEditGroupName->text().toStdString();
params_.move_scan_vel_scaling = ui_->LineEditMoveScanVelScaling->text().toDouble();
params_.stop_on_planning_error = ui_->CheckBoxStopOnPlanningError->isChecked();

tf::poseTFToMsg(world_to_obj_pose_widget_->get_values(), params_.world_to_obj_pose);
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31 changes: 27 additions & 4 deletions godel_simple_gui/src/uis/robot_scan_configuration.ui
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Original file line number Diff line number Diff line change
Expand Up @@ -7,7 +7,7 @@
<x>0</x>
<y>0</y>
<width>540</width>
<height>563</height>
<height>583</height>
</rect>
</property>
<property name="font">
Expand Down Expand Up @@ -105,7 +105,7 @@
<x>30</x>
<y>40</y>
<width>281</width>
<height>441</height>
<height>461</height>
</rect>
</property>
<property name="frameShape">
Expand Down Expand Up @@ -299,13 +299,36 @@
</widget>
</item>
<item row="12" column="0">
<widget class="QLabel" name="moveScanVelScalingLabel">
<property name="text">
<string>Move Scan Vel Scaling</string>
</property>
</widget>
</item>
<item row="12" column="1">
<widget class="QLineEdit" name="LineEditMoveScanVelScaling">
<property name="inputMethodHints">
<set>Qt::ImhDigitsOnly</set>
</property>
<property name="inputMask">
<string/>
</property>
<property name="text">
<string/>
</property>
<property name="maxLength">
<number>8</number>
</property>
</widget>
</item>
<item row="13" column="0">
<widget class="QLabel" name="stopOnPlanningErrorLabel">
<property name="text">
<string>Stop On Plan Error</string>
</property>
</widget>
</item>
<item row="12" column="1">
<item row="13" column="1">
<widget class="QCheckBox" name="CheckBoxStopOnPlanningError"/>
</item>
</layout>
Expand Down Expand Up @@ -341,7 +364,7 @@
<property name="geometry">
<rect>
<x>33</x>
<y>500</y>
<y>520</y>
<width>491</width>
<height>33</height>
</rect>
Expand Down
4 changes: 4 additions & 0 deletions godel_surface_detection/src/scan/robot_scan.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -55,6 +55,7 @@ RobotScan::RobotScan()
{

params_.group_name = "manipulator_asus";
params_.move_scan_vel_scaling = 1;
params_.home_position = "home";
params_.world_frame = "world_frame";
params_.tcp_frame = "kinect2_move_frame";
Expand All @@ -75,6 +76,7 @@ RobotScan::RobotScan()
bool RobotScan::init()
{
move_group_ptr_ = MoveGroupPtr(new moveit::planning_interface::MoveGroupInterface(params_.group_name));
move_group_ptr_->setMaxVelocityScalingFactor(params_.move_scan_vel_scaling);
move_group_ptr_->setEndEffectorLink(params_.tcp_frame);
move_group_ptr_->setPoseReferenceFrame(params_.world_frame);
move_group_ptr_->setPlanningTime(PLANNING_TIME);
Expand All @@ -97,6 +99,7 @@ bool RobotScan::load_parameters(const std::string& filename)
// otherwise load from parameters
ros::NodeHandle nh("~/robot_scan");
return loadParam(nh, "group_name", params_.group_name) &&
loadParam(nh, "move_scan_vel_scaling", params_.move_scan_vel_scaling) &&
loadParam(nh, "home_position", params_.home_position) &&
loadParam(nh, "world_frame", params_.world_frame) &&
loadParam(nh, "tcp_frame", params_.tcp_frame) &&
Expand Down Expand Up @@ -361,6 +364,7 @@ bool RobotScan::create_scan_trajectory(std::vector<geometry_msgs::Pose>& scan_po
scan_poses.push_back(pose);
}

move_group_ptr_->setMaxVelocityScalingFactor(params_.move_scan_vel_scaling);
move_group_ptr_->setEndEffectorLink(params_.tcp_frame);

return true;
Expand Down