Adapt pick pipeline to function without object #599
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added 2 commits
August 24, 2017 18:38
Make it possible to use planGraspsAndPick even though the user did not provide any object. Now, if planGraspsAndPick is called with an empty string then planGraspsAndPick is called again with an empty moveit_msgs::CollisionObject. This change causes trouble in the executeAttachObject function, because there is no object to be attached. The function returns false and the pick is being abborted after the grasp. Thus we just return true in that function when the id of the object is an empty string.
davetcoleman
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Sep 1, 2017
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I do not think this belongs in indigo, though |
v4hn
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Sep 11, 2017
Selective Backport / Did not add default parameter for `planGraspsAndPick` * Use planGraspsAndPick with empty string Make it possible to use planGraspsAndPick even though the user did not provide any object. Now, if planGraspsAndPick is called with an empty string then planGraspsAndPick is called again with an empty moveit_msgs::CollisionObject. This change causes trouble in the executeAttachObject function, because there is no object to be attached. The function returns false and the pick is being abborted after the grasp. Thus we just return true in that function when the id of the object is an empty string.
davetcoleman
pushed a commit
that referenced
this pull request
Sep 21, 2017
Selective Backport / Did not add default parameter for `planGraspsAndPick` * Use planGraspsAndPick with empty string Make it possible to use planGraspsAndPick even though the user did not provide any object. Now, if planGraspsAndPick is called with an empty string then planGraspsAndPick is called again with an empty moveit_msgs::CollisionObject. This change causes trouble in the executeAttachObject function, because there is no object to be attached. The function returns false and the pick is being abborted after the grasp. Thus we just return true in that function when the id of the object is an empty string.
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Giving an empty object into the picking pipeline was not supported before.
executeAttachObjectwas given an empty object and returned false. This aborted the pick action server right after closing the gripper. To work around this, return true whenever an empty string is given as object id.In addition
planGraspsAndPickwas changed, so that it can take an empty string. In that case an emptymoveit_msgs::CollisionObjectis created for the further steps. Also, an empty string is now the default value forplanGraspsAndPick.This change helps with the gpd integration.