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pr2_pbd's Issues

Full test of system for catkin/hydro

This will be the final issue before releasing for Hydro/Catkin and starting development of additional features there.

  • check out on a difference computer
  • code must build without errors
  • all launch files complete
  • runs on simulation (with interactive manipulation)
  • runs with same commands on real robot
  • must support Rviz/RQT (or javascript/HTML IF fully functional and design-reviewed), save/load actions, program actions, object detection & relativeness

Moveit execution error

When I get to executing, I get a bunch of ABORTED: Timeout reached errors. Here's what a trace from the interaction node looks like.

[INFO] [WallTime: 1399434165.857944]  Calling response for command execute-action
[INFO] [WallTime: 1399434165.858408] executing...
[INFO] [WallTime: 1399434166.201626] {'r_elbow_flex_joint': -1.3196984834897858, 'l_forearm_roll_joint': 1.1166003946416465, 'r_shoulder_lift_joint': 0.06049598562088043, 'l_elbow_flex_joint': -0.2339695339225596, 'r_upper_arm_roll_joint': -1.9560965632845613, 'l_shoulder_lift_joint': 0.004518094674299533, 'l_upper_arm_roll_joint': 1.7537611836780402, 'r_shoulder_pan_joint': 0.00409137688786565, 'r_forearm_roll_joint': 1.4542916388864713, 'r_wrist_flex_joint': -0.10032179624697868, 'l_wrist_flex_joint': -1.6676954536332893, 'l_shoulder_pan_joint': 0.8678232925267242}
[ INFO] [1399434169.836203999]: ABORTED: Timeout reached
[INFO] [WallTime: 1399434170.189621] {'r_elbow_flex_joint': -0.9756374322358496, 'l_forearm_roll_joint': 1.1171526239426495, 'r_shoulder_lift_joint': -0.13751281273186766, 'l_elbow_flex_joint': -0.23342511276228617, 'r_upper_arm_roll_joint': -1.8630965632845613, 'l_shoulder_lift_joint': -0.00022594083789950759, 'l_upper_arm_roll_joint': 1.7537611836780402, 'r_shoulder_pan_joint': -0.7356603108615136, 'r_forearm_roll_joint': 1.7462522766354454, 'r_wrist_flex_joint': -0.10043104030728411, 'l_wrist_flex_joint': -1.6690013567309743, 'l_shoulder_pan_joint': 0.8382635318895408}
[ INFO] [1399434173.764848444]: ABORTED: Timeout reached
[INFO] [WallTime: 1399434173.765223] executing complete

Moveit is running on Rosie and seems fine, though it does keep printing these warning messages:

[ WARN] [1399434438.939447384]: The complete state of the robot is not yet known.  Missing l_gripper_l_finger_joint, l_gripper_l_finger_tip_joint, l_gripper_motor_slider_joint, l_gripper_motor_screw_joint, l_gripper_r_finger_joint, l_gripper_r_finger_tip_joint, r_gripper_l_finger_joint, r_gripper_l_finger_tip_joint, r_gripper_motor_slider_joint, r_gripper_motor_screw_joint, r_gripper_r_finger_joint, r_gripper_r_finger_tip_joint

Vladimir said that the problem likely lies in Robot.py.

Remove update loop altogether

It's currently used for trajectories only; can replace by having trajectory start a "timer" that pings it to save a marker / step of the trajectory every 0.1 seconds (have the actual interval configurable by launch file)

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