ros-planning
add goal tolerance examples
Description
- examples related to https://github.com/ros-planning/moveit/pull/2780
Checklist
- [ ] Required by CI: Code is auto formatted using clang-format
- [ ] While waiting for someone to review your request, please consider reviewing another open pull request to support the maintainers
During the new demos, where does the object being gripped go? It looks like it doesn't get accounted for in the simulation I ran.
https://user-images.githubusercontent.com/23001861/127402130-aed46ad7-f31a-48b7-adae-947fc2e4c1bc.mp4
indeed the motion with goal tolerance is realized without object attached. Is this an issue?
Accidently closed this, it's open again.
In regard to the last comment, it's not really an issue so much as I wanted to make sure it's what you intended. Since the object is attached at this point (starting at step 7) would it make sense to plan with the object attached? Maybe the quickest fix is just to reorder the steps and put your new demos right after 6 instead of after 7, then we don't have to think about the attached object.
I changed the demo and updated the corresponding text to follow the video attached
https://user-images.githubusercontent.com/64833674/129591240-43e2c11e-9169-47dc-a221-cc58842423cd.mp4
Cool video. Looks good to me. If you post this video up on YouTube and link it to the tutorial page it would be a nice addition! But it looks like everything works and flows nicely.
Thanks for pinging me on this and sorry it has taken so long for a review. I'll take a look today or early next week and make sure this and the other PR moves forward.
I slightly improved the Tutorial to put numbered headings corresponding to the overview list. I don't know how to test if the formatting is correct though (deploy Website locally).
The industrial CI test error happens because of the dependency to the corresponding MoveIt PR.
deploy Website locally
that is exactly how you test it. You run ./build_locally.sh and see what the formatting looks like.
Another thing, which I hope doesn't disappoint you is that I'm working on making the tutorial website more focused towards new users on foxy.
That means that new features like this will be on the main branch of the tutorial page and will go onto the site itself with the next release. The reason behind this is that github pages (what the tutorial is) is not designed to deploy from different branches. Long term (atleast by the Humble release) we will need a solution that resembles (or uses) the official ros buildfarm where we can have different versions of the tutorials come from different branches. If you use the drop down on the top left of the website to switch versions you'll notice that noetic points to the moveit_tutorials repo, and melodic points to a ros buildfarm website (docs.ros.org).
I checked and corrected the formatting. Thanks for the infos regarding the tutorials. No problem if the changes only appear for the next release :)