mikeferguson / chessbox Goto Github PK

Also, add visualization

If a pick failure, should try a different move.

If a place failure, should replace the picked part to starting place, and try a different move.

The "reach" stuff can probably be tossed.

Many of the nodelets are missing, especially needed are:

• NormalEstimation
• SACSegmentationFromNormals
• ConvexHull2D
• ExtractPolygonalPrisimData

I was trying to add a function removeAttached() to object_interface.py in moveit_utils but I'm getting stuck on syntax. This is what I am currently trying:

def removeAttached(self, link_name, name, wait = True):
    """ Remove an attached object. """
    o = AttachedCollisionObject()
    o.object.header.stamp = rospy.Time.now()
    o.object.header.frame_id = self._fixed_frame
    o.object.id = name
    o.object.operation = o.object.REMOVE
    o.link_name = link_name

    try:
        del self._attached_objects[name]
    except KeyError:
        pass

    self._attached_pub.publish(o)
    if wait:
        self.waitForSync()

When I run this near the top of my script to remove an attached object from a previous run of the script, my script generates the following error:

[INFO] [WallTime: 1391887282.006127] Waiting for get_planning_scene
[ERROR] [WallTime: 1391887284.021650] ObjectManager: sync timed out.

What am I missing?

On line 306 we define pose_transformed but on line 321 it is called goal_transform which causes the error "UnboundLocalError: local variable 'goal_transformed'".

To handle small failures, we should save the board state to a temporary file every time we update it. Additionally, that temp file should be loaded on startup if it exists.