ros-industrial-consortium / fermi Goto Github PK

Representation of the rotation in quaternion for the user is difficult to understand and change it from the UI. Change the view of the Rotation angles from quaternion to Euler angles and convert the Euler angles to Quartenions internally

When converting Euler angles between _tf::Transform_ and _geometry_msgs::Pose_ the singularity of Euler angles is handled differently.

For example: an angle with 180 in _tf::Transform_ is converted as -180 in _geometry_msgs::Pose_.

Proposed solution: replace all tf::Transform with geometry_msgs::Pose
@shaun-edwards and @jrgnicho what is your opinion about this?

Reorganize the directory structure in the github repo putting the plugin into the root of the repo.

Considering the pre-configured MoveIt packages for the robots, where we should put those directories?

If we put the source code in the root of the repo then it could be little bit messy because we will have the code structure of the plugin and the directories of the pre-configured robots? Should we place pre-configured robots in separate repo?

When I run catkin_make in the terminal , there are some errors:

In file included from /usr/include/qt4/QtCore/qvariant.h:46:0,
                 from /usr/include/qt4/QtCore/QVariant:1,
                 from /home/james/catkin_ws/build/fermi-indigo-devel/moveit_cartesian_plan_plugin/ui_path_planning_widget.h:12,
                 from /home/james/catkin_ws/src/fermi-indigo-devel/moveit_cartesian_plan_plugin/include/moveit_cartesian_plan_plugin/widgets/path_planning_widget.h:14,
                 from /home/james/catkin_ws/src/fermi-indigo-devel/moveit_cartesian_plan_plugin/src/widgets/path_planning_widget.cpp:1:
/usr/include/qt4/QtCore/qbytearray.h:598:28: note: QDataStream& operator>>(QDataStream&, QByteArray&)
 Q_CORE_EXPORT QDataStream &operator>>(QDataStream &, QByteArray &);
                            ^
/usr/include/qt4/QtCore/qbytearray.h:598:28: note:   no known conversion for argument 1 from ‘YAML::Node’ to ‘QDataStream&’
make[2]: *** [fermi-indigo-devel/moveit_cartesian_plan_plugin/CMakeFiles/moveit_cartesian_plan_plugin.dir/src/widgets/path_planning_widget.cpp.o] 错误 1
make[1]: *** [fermi-indigo-devel/moveit_cartesian_plan_plugin/CMakeFiles/moveit_cartesian_plan_plugin.dir/all] 错误 2
make: *** [all] 错误 2
Invoking "make -j4 -l4" failed
james@james-23-g131cn:~/catkin_ws$ 

What's worry with it? Thank you very much.

Hi all. I'm a newer and I want to try this plugin. my ubuntu is14.04 and ros is indigo so I clone indigo-devel into catkin_ws/src and catkin_make in catkin_ws. But it always output a long thing that is not normal. Here are the output when catkin_make:
Q_GUI_EXPORT QDataStream &operator>>(QDataStream &, QBrush &);
^
/usr/include/qt4/QtGui/qbrush.h:167:27: note: no known conversion for argument 1 from ‘YAML::Node’ to ‘QDataStream&’
In file included from /usr/include/qt4/QtGui/qbrush.h:53:0,
from /usr/include/qt4/QtGui/qpalette.h:47,
from /usr/include/qt4/QtGui/qwidget.h:50,
from /usr/include/qt4/QtGui/qaction.h:47,
from /usr/include/qt4/QtGui/QAction:1,
from /home/shantengfei/catkin_ws/build/moveit_cartesian_plan_plugin/ui_path_planning_widget.h:13,
from /home/shantengfei/catkin_ws/src/moveit_cartesian_plan_plugin/include/moveit_cartesian_plan_plugin/widgets/path_planning_widget.h:14,
from /home/shantengfei/catkin_ws/src/moveit_cartesian_plan_plugin/src/widgets/path_planning_widget.cpp:1:
/usr/include/qt4/QtGui/qpixmap.h:324:27: note: QDataStream& operator>>(QDataStream&, QPixmap&)
Q_GUI_EXPORT QDataStream &operator>>(QDataStream &, QPixmap &);
^
/usr/include/qt4/QtGui/qpixmap.h:324:27: note: no known conversion for argument 1 from ‘YAML::Node’ to ‘QDataStream&’
In file included from /usr/include/qt4/QtGui/qbrush.h:52:0,
from /usr/include/qt4/QtGui/qpalette.h:47,
from /usr/include/qt4/QtGui/qwidget.h:50,
from /usr/include/qt4/QtGui/qaction.h:47,
from /usr/include/qt4/QtGui/QAction:1,
from /home/shantengfei/catkin_ws/build/moveit_cartesian_plan_plugin/ui_path_planning_widget.h:13,
from /home/shantengfei/catkin_ws/src/moveit_cartesian_plan_plugin/include/moveit_cartesian_plan_plugin/widgets/path_planning_widget.h:14,
from /home/shantengfei/catkin_ws/src/moveit_cartesian_plan_plugin/src/widgets/path_planning_widget.cpp:1:
/usr/include/qt4/QtGui/qimage.h:363:27: note: QDataStream& operator>>(QDataStream&, QImage&)
Q_GUI_EXPORT QDataStream &operator>>(QDataStream &, QImage &);
^
/usr/include/qt4/QtGui/qimage.h:363:27: note: no known conversion for argument 1 from ‘YAML::Node’ to ‘QDataStream&’
In file included from /usr/include/qt4/QtGui/qbrush.h:51:0,
from /usr/include/qt4/QtGui/qpalette.h:47,
from /usr/include/qt4/QtGui/qwidget.h:50,
from /usr/include/qt4/QtGui/qaction.h:47,
from /usr/include/qt4/QtGui/QAction:1,
from /home/shantengfei/catkin_ws/build/moveit_cartesian_plan_plugin/ui_path_planning_widget.h:13,
from /home/shantengfei/catkin_ws/src/moveit_cartesian_plan_plugin/include/moveit_cartesian_plan_plugin/widgets/path_planning_widget.h:14,
from /home/shantengfei/catkin_ws/src/moveit_cartesian_plan_plugin/src/widgets/path_planning_widget.cpp:1:
/usr/include/qt4/QtGui/qtransform.h:356:27: note: QDataStream& operator>>(QDataStream&, QTransform&)
Q_GUI_EXPORT QDataStream &operator>>(QDataStream &, QTransform &);
^
/usr/include/qt4/QtGui/qtransform.h:356:27: note: no known conversion for argument 1 from ‘YAML::Node’ to ‘QDataStream&’
In file included from /usr/include/qt4/QtGui/qtransform.h:45:0,
from /usr/include/qt4/QtGui/qbrush.h:51,
from /usr/include/qt4/QtGui/qpalette.h:47,
from /usr/include/qt4/QtGui/qwidget.h:50,
from /usr/include/qt4/QtGui/qaction.h:47,
from /usr/include/qt4/QtGui/QAction:1,
from /home/shantengfei/catkin_ws/build/moveit_cartesian_plan_plugin/ui_path_planning_widget.h:13,
from /home/shantengfei/catkin_ws/src/moveit_cartesian_plan_plugin/include/moveit_cartesian_plan_plugin/widgets/path_planning_widget.h:14,
from /home/shantengfei/catkin_ws/src/moveit_cartesian_plan_plugin/src/widgets/path_planning_widget.cpp:1:
/usr/include/qt4/QtGui/qpainterpath.h:261:27: note: QDataStream& operator>>(QDataStream&, QPainterPath&)
Q_GUI_EXPORT QDataStream &operator>>(QDataStream &, QPainterPath &);
^
/usr/include/qt4/QtGui/qpainterpath.h:261:27: note: no known conversion for argument 1 from ‘YAML::Node’ to ‘QDataStream&’
In file included from /usr/include/qt4/QtGui/qbrush.h:50:0,
from /usr/include/qt4/QtGui/qpalette.h:47,
from /usr/include/qt4/QtGui/qwidget.h:50,
from /usr/include/qt4/QtGui/qaction.h:47,
from /usr/include/qt4/QtGui/QAction:1,
from /home/shantengfei/catkin_ws/build/moveit_cartesian_plan_plugin/ui_path_planning_widget.h:13,
from /home/shantengfei/catkin_ws/src/moveit_cartesian_plan_plugin/include/moveit_cartesian_plan_plugin/widgets/path_planning_widget.h:14,
from /home/shantengfei/catkin_ws/src/moveit_cartesian_plan_plugin/src/widgets/path_planning_widget.cpp:1:
/usr/include/qt4/QtGui/qmatrix.h:189:27: note: QDataStream& operator>>(QDataStream&, QMatrix&)
Q_GUI_EXPORT QDataStream &operator>>(QDataStream &, QMatrix &);
^
/usr/include/qt4/QtGui/qmatrix.h:189:27: note: no known conversion for argument 1 from ‘YAML::Node’ to ‘QDataStream&’
In file included from /usr/include/qt4/QtGui/qmatrix.h:48:0,
from /usr/include/qt4/QtGui/qbrush.h:50,
from /usr/include/qt4/QtGui/qpalette.h:47,
from /usr/include/qt4/QtGui/qwidget.h:50,
from /usr/include/qt4/QtGui/qaction.h:47,
from /usr/include/qt4/QtGui/QAction:1,
from /home/shantengfei/catkin_ws/build/moveit_cartesian_plan_plugin/ui_path_planning_widget.h:13,
from /home/shantengfei/catkin_ws/src/moveit_cartesian_plan_plugin/include/moveit_cartesian_plan_plugin/widgets/path_planning_widget.h:14,
from /home/shantengfei/catkin_ws/src/moveit_cartesian_plan_plugin/src/widgets/path_planning_widget.cpp:1:
/usr/include/qt4/QtCore/qline.h:417:28: note: QDataStream& operator>>(QDataStream&, QLineF&)
Q_CORE_EXPORT QDataStream &operator>>(QDataStream &, QLineF &);
^
/usr/include/qt4/QtCore/qline.h:417:28: note: no known conversion for argument 1 from ‘YAML::Node’ to ‘QDataStream&’
/usr/include/qt4/QtCore/qline.h:206:28: note: QDataStream& operator>>(QDataStream&, QLine&)
Q_CORE_EXPORT QDataStream &operator>>(QDataStream &, QLine &);
^
/usr/include/qt4/QtCore/qline.h:206:28: note: no known conversion for argument 1 from ‘YAML::Node’ to ‘QDataStream&’
In file included from /usr/include/qt4/QtGui/qmatrix.h:46:0,
from /usr/include/qt4/QtGui/qbrush.h:50,
from /usr/include/qt4/QtGui/qpalette.h:47,
from /usr/include/qt4/QtGui/qwidget.h:50,
from /usr/include/qt4/QtGui/qaction.h:47,
from /usr/include/qt4/QtGui/QAction:1,
from /home/shantengfei/catkin_ws/build/moveit_cartesian_plan_plugin/ui_path_planning_widget.h:13,
from /home/shantengfei/catkin_ws/src/moveit_cartesian_plan_plugin/include/moveit_cartesian_plan_plugin/widgets/path_planning_widget.h:14,
from /home/shantengfei/catkin_ws/src/moveit_cartesian_plan_plugin/src/widgets/path_planning_widget.cpp:1:
/usr/include/qt4/QtGui/qregion.h:228:27: note: QDataStream& operator>>(QDataStream&, QRegion&)
Q_GUI_EXPORT QDataStream &operator>>(QDataStream &, QRegion &);
^
/usr/include/qt4/QtGui/qregion.h:228:27: note: no known conversion for argument 1 from ‘YAML::Node’ to ‘QDataStream&’
In file included from /usr/include/qt4/QtGui/qmatrix.h:45:0,
from /usr/include/qt4/QtGui/qbrush.h:50,
from /usr/include/qt4/QtGui/qpalette.h:47,
from /usr/include/qt4/QtGui/qwidget.h:50,
from /usr/include/qt4/QtGui/qaction.h:47,
from /usr/include/qt4/QtGui/QAction:1,
from /home/shantengfei/catkin_ws/build/moveit_cartesian_plan_plugin/ui_path_planning_widget.h:13,
from /home/shantengfei/catkin_ws/src/moveit_cartesian_plan_plugin/include/moveit_cartesian_plan_plugin/widgets/path_planning_widget.h:14,
from /home/shantengfei/catkin_ws/src/moveit_cartesian_plan_plugin/src/widgets/path_planning_widget.cpp:1:
/usr/include/qt4/QtGui/qpolygon.h:176:27: note: QDataStream& operator>>(QDataStream&, QPolygonF&)
Q_GUI_EXPORT QDataStream &operator>>(QDataStream &stream, QPolygonF &array);
^
/usr/include/qt4/QtGui/qpolygon.h:176:27: note: no known conversion for argument 1 from ‘YAML::Node’ to ‘QDataStream&’
/usr/include/qt4/QtGui/qpolygon.h:110:27: note: QDataStream& operator>>(QDataStream&, QPolygon&)
Q_GUI_EXPORT QDataStream &operator>>(QDataStream &stream, QPolygon &polygon);
^
/usr/include/qt4/QtGui/qpolygon.h:110:27: note: no known conversion for argument 1 from ‘YAML::Node’ to ‘QDataStream&’
In file included from /usr/include/qt4/QtGui/qpalette.h:46:0,
from /usr/include/qt4/QtGui/qwidget.h:50,
from /usr/include/qt4/QtGui/qaction.h:47,
from /usr/include/qt4/QtGui/QAction:1,
from /home/shantengfei/catkin_ws/build/moveit_cartesian_plan_plugin/ui_path_planning_widget.h:13,
from /home/shantengfei/catkin_ws/src/moveit_cartesian_plan_plugin/include/moveit_cartesian_plan_plugin/widgets/path_planning_widget.h:14,
from /home/shantengfei/catkin_ws/src/moveit_cartesian_plan_plugin/src/widgets/path_planning_widget.cpp:1:
/usr/include/qt4/QtGui/qcolor.h:275:38: note: QDataStream& operator>>(QDataStream&, QColor&)
friend Q_GUI_EXPORT QDataStream &operator>>(QDataStream &, QColor &);
^
/usr/include/qt4/QtGui/qcolor.h:275:38: note: no known conversion for argument 1 from ‘YAML::Node’ to ‘QDataStream&’
In file included from /usr/include/qt4/QtGui/qcolor.h:47:0,
from /usr/include/qt4/QtGui/qpalette.h:46,
from /usr/include/qt4/QtGui/qwidget.h:50,
from /usr/include/qt4/QtGui/qaction.h:47,
from /usr/include/qt4/QtGui/QAction:1,
from /home/shantengfei/catkin_ws/build/moveit_cartesian_plan_plugin/ui_path_planning_widget.h:13,
from /home/shantengfei/catkin_ws/src/moveit_cartesian_plan_plugin/include/moveit_cartesian_plan_plugin/widgets/path_planning_widget.h:14,
from /home/shantengfei/catkin_ws/src/moveit_cartesian_plan_plugin/src/widgets/path_planning_widget.cpp:1:
/usr/include/qt4/QtCore/qstringlist.h:248:21: note: QDataStream& operator>>(QDataStream&, QStringList&)
inline QDataStream &operator>>(QDataStream &in, QStringList &list)
^
/usr/include/qt4/QtCore/qstringlist.h:248:21: note: no known conversion for argument 1 from ‘YAML::Node’ to ‘QDataStream&’
In file included from /usr/include/qt4/QtCore/qstringlist.h:48:0,
from /usr/include/qt4/QtGui/qcolor.h:47,
from /usr/include/qt4/QtGui/qpalette.h:46,
from /usr/include/qt4/QtGui/qwidget.h:50,
from /usr/include/qt4/QtGui/qaction.h:47,
from /usr/include/qt4/QtGui/QAction:1,
from /home/shantengfei/catkin_ws/build/moveit_cartesian_plan_plugin/ui_path_planning_widget.h:13,
from /home/shantengfei/catkin_ws/src/moveit_cartesian_plan_plugin/include/moveit_cartesian_plan_plugin/widgets/path_planning_widget.h:14,
from /home/shantengfei/catkin_ws/src/moveit_cartesian_plan_plugin/src/widgets/path_planning_widget.cpp:1:
/usr/include/qt4/QtCore/qregexp.h:160:28: note: QDataStream& operator>>(QDataStream&, QRegExp&)
Q_CORE_EXPORT QDataStream &operator>>(QDataStream &in, QRegExp &regExp);
^
/usr/include/qt4/QtCore/qregexp.h:160:28: note: no known conversion for argument 1 from ‘YAML::Node’ to ‘QDataStream&’
In file included from /usr/include/qt4/QtGui/qpaintdevice.h:46:0,
from /usr/include/qt4/QtGui/qwidget.h:49,
from /usr/include/qt4/QtGui/qaction.h:47,
from /usr/include/qt4/QtGui/QAction:1,
from /home/shantengfei/catkin_ws/build/moveit_cartesian_plan_plugin/ui_path_planning_widget.h:13,
from /home/shantengfei/catkin_ws/src/moveit_cartesian_plan_plugin/include/moveit_cartesian_plan_plugin/widgets/path_planning_widget.h:14,
from /home/shantengfei/catkin_ws/src/moveit_cartesian_plan_plugin/src/widgets/path_planning_widget.cpp:1:
/usr/include/qt4/QtCore/qrect.h:622:28: note: QDataStream& operator>>(QDataStream&, QRectF&)
Q_CORE_EXPORT QDataStream &operator>>(QDataStream &, QRectF &);
^
/usr/include/qt4/QtCore/qrect.h:622:28: note: no known conversion for argument 1 from ‘YAML::Node’ to ‘QDataStream&’
/usr/include/qt4/QtCore/qrect.h:200:28: note: QDataStream& operator>>(QDataStream&, QRect&)
Q_CORE_EXPORT QDataStream &operator>>(QDataStream &, QRect &);
^
/usr/include/qt4/QtCore/qrect.h:200:28: note: no known conversion for argument 1 from ‘YAML::Node’ to ‘QDataStream&’
In file included from /usr/include/qt4/QtCore/qrect.h:46:0,
from /usr/include/qt4/QtGui/qpaintdevice.h:46,
from /usr/include/qt4/QtGui/qwidget.h:49,
from /usr/include/qt4/QtGui/qaction.h:47,
from /usr/include/qt4/QtGui/QAction:1,
from /home/shantengfei/catkin_ws/build/moveit_cartesian_plan_plugin/ui_path_planning_widget.h:13,
from /home/shantengfei/catkin_ws/src/moveit_cartesian_plan_plugin/include/moveit_cartesian_plan_plugin/widgets/path_planning_widget.h:14,
from /home/shantengfei/catkin_ws/src/moveit_cartesian_plan_plugin/src/widgets/path_planning_widget.cpp:1:
/usr/include/qt4/QtCore/qpoint.h:264:28: note: QDataStream& operator>>(QDataStream&, QPointF&)
Q_CORE_EXPORT QDataStream &operator>>(QDataStream &, QPointF &);
^
/usr/include/qt4/QtCore/qpoint.h:264:28: note: no known conversion for argument 1 from ‘YAML::Node’ to ‘QDataStream&’
/usr/include/qt4/QtCore/qpoint.h:112:28: note: QDataStream& operator>>(QDataStream&, QPoint&)
Q_CORE_EXPORT QDataStream &operator>>(QDataStream &, QPoint &);
^
/usr/include/qt4/QtCore/qpoint.h:112:28: note: no known conversion for argument 1 from ‘YAML::Node’ to ‘QDataStream&’
In file included from /usr/include/qt4/QtCore/qrect.h:45:0,
from /usr/include/qt4/QtGui/qpaintdevice.h:46,
from /usr/include/qt4/QtGui/qwidget.h:49,
from /usr/include/qt4/QtGui/qaction.h:47,
from /usr/include/qt4/QtGui/QAction:1,
from /home/shantengfei/catkin_ws/build/moveit_cartesian_plan_plugin/ui_path_planning_widget.h:13,
from /home/shantengfei/catkin_ws/src/moveit_cartesian_plan_plugin/include/moveit_cartesian_plan_plugin/widgets/path_planning_widget.h:14,
from /home/shantengfei/catkin_ws/src/moveit_cartesian_plan_plugin/src/widgets/path_planning_widget.cpp:1:
/usr/include/qt4/QtCore/qsize.h:256:28: note: QDataStream& operator>>(QDataStream&, QSizeF&)
Q_CORE_EXPORT QDataStream &operator>>(QDataStream &, QSizeF &);
^
/usr/include/qt4/QtCore/qsize.h:256:28: note: no known conversion for argument 1 from ‘YAML::Node’ to ‘QDataStream&’
/usr/include/qt4/QtCore/qsize.h:103:28: note: QDataStream& operator>>(QDataStream&, QSize&)
Q_CORE_EXPORT QDataStream &operator>>(QDataStream &, QSize &);
^
/usr/include/qt4/QtCore/qsize.h:103:28: note: no known conversion for argument 1 from ‘YAML::Node’ to ‘QDataStream&’
In file included from /usr/include/qt4/QtGui/qaction.h:45:0,
from /usr/include/qt4/QtGui/QAction:1,
from /home/shantengfei/catkin_ws/build/moveit_cartesian_plan_plugin/ui_path_planning_widget.h:13,
from /home/shantengfei/catkin_ws/src/moveit_cartesian_plan_plugin/include/moveit_cartesian_plan_plugin/widgets/path_planning_widget.h:14,
from /home/shantengfei/catkin_ws/src/moveit_cartesian_plan_plugin/src/widgets/path_planning_widget.cpp:1:
/usr/include/qt4/QtGui/qkeysequence.h:209:38: note: QDataStream& operator>>(QDataStream&, QKeySequence&)
friend Q_GUI_EXPORT QDataStream &operator>>(QDataStream &in, QKeySequence &ks);
^
/usr/include/qt4/QtGui/qkeysequence.h:209:38: note: no known conversion for argument 1 from ‘YAML::Node’ to ‘QDataStream&’
In file included from /usr/include/qt4/QtCore/QVariant:1:0,
from /home/shantengfei/catkin_ws/build/moveit_cartesian_plan_plugin/ui_path_planning_widget.h:12,
from /home/shantengfei/catkin_ws/src/moveit_cartesian_plan_plugin/include/moveit_cartesian_plan_plugin/widgets/path_planning_widget.h:14,
from /home/shantengfei/catkin_ws/src/moveit_cartesian_plan_plugin/src/widgets/path_planning_widget.cpp:1:
/usr/include/qt4/QtCore/qvariant.h:533:28: note: QDataStream& operator>>(QDataStream&, QVariant::Type&)
Q_CORE_EXPORT QDataStream& operator>> (QDataStream& s, QVariant::Type& p);
^
/usr/include/qt4/QtCore/qvariant.h:533:28: note: no known conversion for argument 1 from ‘YAML::Node’ to ‘QDataStream&’
/usr/include/qt4/QtCore/qvariant.h:531:28: note: QDataStream& operator>>(QDataStream&, QVariant&)
Q_CORE_EXPORT QDataStream& operator>> (QDataStream& s, QVariant& p);
^
/usr/include/qt4/QtCore/qvariant.h:531:28: note: no known conversion for argument 1 from ‘YAML::Node’ to ‘QDataStream&’
In file included from /usr/include/qt4/QtCore/qhash.h:49:0,
from /usr/include/qt4/QtCore/qvariant.h:50,
from /usr/include/qt4/QtCore/QVariant:1,
from /home/shantengfei/catkin_ws/build/moveit_cartesian_plan_plugin/ui_path_planning_widget.h:12,
from /home/shantengfei/catkin_ws/src/moveit_cartesian_plan_plugin/include/moveit_cartesian_plan_plugin/widgets/path_planning_widget.h:14,
from /home/shantengfei/catkin_ws/src/moveit_cartesian_plan_plugin/src/widgets/path_planning_widget.cpp:1:
/usr/include/qt4/QtCore/qpair.h:109:21: note: template<class T1, class T2> QDataStream& operator>>(QDataStream&, QPair<T1, T2>&)
inline QDataStream& operator>>(QDataStream& s, QPair<T1, T2>& p)
^
/usr/include/qt4/QtCore/qpair.h:109:21: note: template argument deduction/substitution failed:
/home/shantengfei/catkin_ws/src/moveit_cartesian_plan_plugin/src/widgets/path_planning_widget.cpp:448:33: note: cannot convert ‘YAML::Node::operator[](const Key&) [with Key = int]((* &5))’ (type ‘YAML::Node’) to type ‘QDataStream&’
doc[i]["point"][5] >> rz;
^
In file included from /usr/include/qt4/QtCore/qmetatype.h:49:0,
from /usr/include/qt4/QtCore/qvariant.h:48,
from /usr/include/qt4/QtCore/QVariant:1,
from /home/shantengfei/catkin_ws/build/moveit_cartesian_plan_plugin/ui_path_planning_widget.h:12,
from /home/shantengfei/catkin_ws/src/moveit_cartesian_plan_plugin/include/moveit_cartesian_plan_plugin/widgets/path_planning_widget.h:14,
from /home/shantengfei/catkin_ws/src/moveit_cartesian_plan_plugin/src/widgets/path_planning_widget.cpp:1:
/usr/include/qt4/QtCore/qdatastream.h:392:35: note: template<class aKey, class aT> QDataStream& operator>>(QDataStream&, QMap<aKey, aT>&)
Q_OUTOFLINE_TEMPLATE QDataStream &operator>>(QDataStream &in, QMap<aKey, aT> &map)
^
/usr/include/qt4/QtCore/qdatastream.h:392:35: note: template argument deduction/substitution failed:
/home/shantengfei/catkin_ws/src/moveit_cartesian_plan_plugin/src/widgets/path_planning_widget.cpp:448:33: note: cannot convert ‘YAML::Node::operator[](const Key&) [with Key = int]((* &5))’ (type ‘YAML::Node’) to type ‘QDataStream&’
doc[i]["point"][5] >> rz;
^
In file included from /usr/include/qt4/QtCore/qmetatype.h:49:0,
from /usr/include/qt4/QtCore/qvariant.h:48,
from /usr/include/qt4/QtCore/QVariant:1,
from /home/shantengfei/catkin_ws/build/moveit_cartesian_plan_plugin/ui_path_planning_widget.h:12,
from /home/shantengfei/catkin_ws/src/moveit_cartesian_plan_plugin/include/moveit_cartesian_plan_plugin/widgets/path_planning_widget.h:14,
from /home/shantengfei/catkin_ws/src/moveit_cartesian_plan_plugin/src/widgets/path_planning_widget.cpp:1:
/usr/include/qt4/QtCore/qdatastream.h:349:35: note: template<class Key, class T> QDataStream& operator>>(QDataStream&, QHash<Key, T>&)
Q_OUTOFLINE_TEMPLATE QDataStream &operator>>(QDataStream &in, QHash<Key, T> &hash)
^
/usr/include/qt4/QtCore/qdatastream.h:349:35: note: template argument deduction/substitution failed:
/home/shantengfei/catkin_ws/src/moveit_cartesian_plan_plugin/src/widgets/path_planning_widget.cpp:448:33: note: cannot convert ‘YAML::Node::operator[](const Key&) [with Key = int]((* &5))’ (type ‘YAML::Node’) to type ‘QDataStream&’
doc[i]["point"][5] >> rz;
^
In file included from /usr/include/qt4/QtCore/qmetatype.h:49:0,
from /usr/include/qt4/QtCore/qvariant.h:48,
from /usr/include/qt4/QtCore/QVariant:1,
from /home/shantengfei/catkin_ws/build/moveit_cartesian_plan_plugin/ui_path_planning_widget.h:12,
from /home/shantengfei/catkin_ws/src/moveit_cartesian_plan_plugin/include/moveit_cartesian_plan_plugin/widgets/path_planning_widget.h:14,
from /home/shantengfei/catkin_ws/src/moveit_cartesian_plan_plugin/src/widgets/path_planning_widget.cpp:1:
/usr/include/qt4/QtCore/qdatastream.h:321:14: note: template QDataStream& operator>>(QDataStream&, QSet&)
QDataStream &operator>>(QDataStream &in, QSet &set)
^
/usr/include/qt4/QtCore/qdatastream.h:321:14: note: template argument deduction/substitution failed:
/home/shantengfei/catkin_ws/src/moveit_cartesian_plan_plugin/src/widgets/path_planning_widget.cpp:448:33: note: cannot convert ‘YAML::Node::operator[](const Key&) [with Key = int]((* &5))’ (type ‘YAML::Node’) to type ‘QDataStream&’
doc[i]["point"][5] >> rz;
^
In file included from /usr/include/qt4/QtCore/qmetatype.h:49:0,
from /usr/include/qt4/QtCore/qvariant.h:48,
from /usr/include/qt4/QtCore/QVariant:1,
from /home/shantengfei/catkin_ws/build/moveit_cartesian_plan_plugin/ui_path_planning_widget.h:12,
from /home/shantengfei/catkin_ws/src/moveit_cartesian_plan_plugin/include/moveit_cartesian_plan_plugin/widgets/path_planning_widget.h:14,
from /home/shantengfei/catkin_ws/src/moveit_cartesian_plan_plugin/src/widgets/path_planning_widget.cpp:1:
/usr/include/qt4/QtCore/qdatastream.h:297:14: note: template QDataStream& operator>>(QDataStream&, QVector&)
QDataStream& operator>>(QDataStream& s, QVector& v)
^
/usr/include/qt4/QtCore/qdatastream.h:297:14: note: template argument deduction/substitution failed:
/home/shantengfei/catkin_ws/src/moveit_cartesian_plan_plugin/src/widgets/path_planning_widget.cpp:448:33: note: cannot convert ‘YAML::Node::operator[](const Key&) [with Key = int]((* &5))’ (type ‘YAML::Node’) to type ‘QDataStream&’
doc[i]["point"][5] >> rz;
^
In file included from /usr/include/qt4/QtCore/qmetatype.h:49:0,
from /usr/include/qt4/QtCore/qvariant.h:48,
from /usr/include/qt4/QtCore/QVariant:1,
from /home/shantengfei/catkin_ws/build/moveit_cartesian_plan_plugin/ui_path_planning_widget.h:12,
from /home/shantengfei/catkin_ws/src/moveit_cartesian_plan_plugin/include/moveit_cartesian_plan_plugin/widgets/path_planning_widget.h:14,
from /home/shantengfei/catkin_ws/src/moveit_cartesian_plan_plugin/src/widgets/path_planning_widget.cpp:1:
/usr/include/qt4/QtCore/qdatastream.h:270:14: note: template QDataStream& operator>>(QDataStream&, QLinkedList&)
QDataStream& operator>>(QDataStream& s, QLinkedList& l)
^
/usr/include/qt4/QtCore/qdatastream.h:270:14: note: template argument deduction/substitution failed:
/home/shantengfei/catkin_ws/src/moveit_cartesian_plan_plugin/src/widgets/path_planning_widget.cpp:448:33: note: cannot convert ‘YAML::Node::operator[](const Key&) [with Key = int]((* &5))’ (type ‘YAML::Node’) to type ‘QDataStream&’
doc[i]["point"][5] >> rz;
^
In file included from /usr/include/qt4/QtCore/qmetatype.h:49:0,
from /usr/include/qt4/QtCore/qvariant.h:48,
from /usr/include/qt4/QtCore/QVariant:1,
from /home/shantengfei/catkin_ws/build/moveit_cartesian_plan_plugin/ui_path_planning_widget.h:12,
from /home/shantengfei/catkin_ws/src/moveit_cartesian_plan_plugin/include/moveit_cartesian_plan_plugin/widgets/path_planning_widget.h:14,
from /home/shantengfei/catkin_ws/src/moveit_cartesian_plan_plugin/src/widgets/path_planning_widget.cpp:1:
/usr/include/qt4/QtCore/qdatastream.h:243:14: note: template QDataStream& operator>>(QDataStream&, QList&)
QDataStream& operator>>(QDataStream& s, QList& l)
^
/usr/include/qt4/QtCore/qdatastream.h:243:14: note: template argument deduction/substitution failed:
/home/shantengfei/catkin_ws/src/moveit_cartesian_plan_plugin/src/widgets/path_planning_widget.cpp:448:33: note: cannot convert ‘YAML::Node::operator[](const Key&) [with Key = int]((* &5))’ (type ‘YAML::Node’) to type ‘QDataStream&’
doc[i]["point"][5] >> rz;
^
In file included from /usr/include/qt4/QtCore/qobject.h:48:0,
from /usr/include/qt4/QtCore/qiodevice.h:46,
from /usr/include/qt4/QtCore/qdatastream.h:46,
from /usr/include/qt4/QtCore/qmetatype.h:49,
from /usr/include/qt4/QtCore/qvariant.h:48,
from /usr/include/qt4/QtCore/QVariant:1,
from /home/shantengfei/catkin_ws/build/moveit_cartesian_plan_plugin/ui_path_planning_widget.h:12,
from /home/shantengfei/catkin_ws/src/moveit_cartesian_plan_plugin/include/moveit_cartesian_plan_plugin/widgets/path_planning_widget.h:14,
from /home/shantengfei/catkin_ws/src/moveit_cartesian_plan_plugin/src/widgets/path_planning_widget.cpp:1:
/usr/include/qt4/QtCore/qstring.h:1081:28: note: QDataStream& operator>>(QDataStream&, QString&)
Q_CORE_EXPORT QDataStream &operator>>(QDataStream &, QString &);
^
/usr/include/qt4/QtCore/qstring.h:1081:28: note: no known conversion for argument 1 from ‘YAML::Node’ to ‘QDataStream&’
In file included from /usr/include/qt4/QtCore/qstring.h:45:0,
from /usr/include/qt4/QtCore/qobject.h:48,
from /usr/include/qt4/QtCore/qiodevice.h:46,
from /usr/include/qt4/QtCore/qdatastream.h:46,
from /usr/include/qt4/QtCore/qmetatype.h:49,
from /usr/include/qt4/QtCore/qvariant.h:48,
from /usr/include/qt4/QtCore/QVariant:1,
from /home/shantengfei/catkin_ws/build/moveit_cartesian_plan_plugin/ui_path_planning_widget.h:12,
from /home/shantengfei/catkin_ws/src/moveit_cartesian_plan_plugin/include/moveit_cartesian_plan_plugin/widgets/path_planning_widget.h:14,
from /home/shantengfei/catkin_ws/src/moveit_cartesian_plan_plugin/src/widgets/path_planning_widget.cpp:1:
/usr/include/qt4/QtCore/qchar.h:401:28: note: QDataStream& operator>>(QDataStream&, QChar&)
Q_CORE_EXPORT QDataStream &operator>>(QDataStream &, QChar &);
^
/usr/include/qt4/QtCore/qchar.h:401:28: note: no known conversion for argument 1 from ‘YAML::Node’ to ‘QDataStream&’
In file included from /usr/include/qt4/QtCore/qvariant.h:46:0,
from /usr/include/qt4/QtCore/QVariant:1,
from /home/shantengfei/catkin_ws/build/moveit_cartesian_plan_plugin/ui_path_planning_widget.h:12,
from /home/shantengfei/catkin_ws/src/moveit_cartesian_plan_plugin/include/moveit_cartesian_plan_plugin/widgets/path_planning_widget.h:14,
from /home/shantengfei/catkin_ws/src/moveit_cartesian_plan_plugin/src/widgets/path_planning_widget.cpp:1:
/usr/include/qt4/QtCore/qbytearray.h:598:28: note: QDataStream& operator>>(QDataStream&, QByteArray&)
Q_CORE_EXPORT QDataStream &operator>>(QDataStream &, QByteArray &);
^
/usr/include/qt4/QtCore/qbytearray.h:598:28: note: no known conversion for argument 1 from ‘YAML::Node’ to ‘QDataStream&’
[ 78%] Building CXX object moveit_cartesian_plan_plugin/CMakeFiles/moveit_cartesian_plan_plugin.dir/include/moveit_cartesian_plan_plugin/moc_on_mouse_click.cxx.o
make[2]: *** [moveit_cartesian_plan_plugin/CMakeFiles/moveit_cartesian_plan_plugin.dir/src/widgets/path_planning_widget.cpp.o] Error 1
make[2]: *** Waiting for unfinished jobs....
make[1]: *** [moveit_cartesian_plan_plugin/CMakeFiles/moveit_cartesian_plan_plugin.dir/all] Error 2
make: *** [all] Error 2
Invoking "make -j4 -l4" failed
Maybe this is a stupid question but I don't know how to solve with it and the ROS Q&A was broken. So I'm sorry to bother you.

This appears to be somewhat robot-specific at the momement, with all the fermi prefixes, etc. Are there plans to move this into the main MoveIt! repos and have it part of the full release?

Sometimes when we execute the robot we would like to return it in the initial state. I would like to add "go home" button to the UI which will execute a robot motion that returns the robot at its start state, as configured from MoveIt.

The Rviz panel name is "AddWayPoint". We should consider updating the name to the proprer naming convention (i.e. Add Way Point) or giving it a more appropriate name since it does more than just add waypoints at this stage.

Hello all,
at first, thank you for developing this Plug In! It's very convenient for me.
Although I have a little issue with the success ratio. The first time I execute the path it works just fine but every time after it crashes and just completes about one third of the way. (Move to Home as well as Execute Cartesian Path). After restarting RViz it works again for one time.
I use the iiwa robot from ROS Industrial.
Do you have an idea what is going wrong here?

Also is there a way to set the planning library used manually?
And one last thing: Are there any options to differ between LIN and PTP movements using the path planning tool?

Thank you

Waypoints are currently ordered by when they are created. This makes it impossible to add a waypoint in the middle of a path.

Improve and update the doxygen documentation

RViz is locking up when a long ros/moveit task is Running. This is especially noticeable after the execution of the Cartesian path we have created from the way-points.

To replicate the issue just load one of the saved way-points yaml files located in waypoints_data folder and execute the Cartesian path by pressing Simulate Cartesian Path button.

Further more, if we only have the RobotState visual enabled in the RViz environment the Robot is not simulated at all and just its end state is visualized. The Cartesian path is still executed in the background.

Is there an available version or ongoing effort to make this repo available in ROS Kinetic? Neither the indigo nor the melodic branch compile for me.

I used the indigo-level and had successfully catkin_make, and sourced the path, but failed to roslaunch:

[100%] Linking CXX shared library /home/lyh/catkin_ws/devel/lib/libmoveit_cartesian_plan_plugin.so
[100%] Built target moveit_cartesian_plan_plugin
lyh@lyh-ThinkPad-T440:~/catkin_ws$ source devel/setup.bash
lyh@lyh-ThinkPad-T440:~/catkin_ws$ roslaunch fermi_sia20d_moveit_config moveit_planning_execution.launch
[moveit_planning_execution.launch] is neither a launch file in package [fermi_sia20d_moveit_config] nor is [fermi_sia20d_moveit_config] a launch file name
The traceback for the exception was written to the log file

The MoveIt group is hardcoded as "manipulator". Dynamically load the group name from ROS parameter service or through the GUI.

I use Ubuntu 14.04
I have ros-indigo-desktop (1.1.3-0trusty-20141202-2012-+0000) installed
I'm trying to build the indigo-devel branch of this repository

I get these errors which seems YAML / Qt related:

[ 90%] Built target robot_state
/home/dell/Copy/ros_fanuc_ws/src/fermi/moveit_cartesian_plan_plugin/src/widgets/path_planning_widget.cpp: In member function ‘void moveit_cartesian_plan_plugin::widgets::PathPlanningWidget::loadPointsFromFile()’:
/home/dell/Copy/ros_fanuc_ws/src/fermi/moveit_cartesian_plan_plugin/src/widgets/path_planning_widget.cpp:429:16: error: ‘class YAML::Parser’ has no member named ‘GetNextDocument’
         parser.GetNextDocument(doc);
                ^
/home/dell/Copy/ros_fanuc_ws/src/fermi/moveit_cartesian_plan_plugin/src/widgets/path_planning_widget.cpp:442:26: error: no match for ‘operator>>’ (operand types are ‘YAML::Node’ and ‘std::string {aka std::basic_string<char>}’)
           doc[i]["name"] >> name;
                          ^
/home/dell/Copy/ros_fanuc_ws/src/fermi/moveit_cartesian_plan_plugin/src/widgets/path_planning_widget.cpp:442:26: note: candidates are:
In file included from /usr/include/qt4/QtGui/QSplitter:1:0,
                 from /home/dell/Copy/ros_fanuc_ws/src/fermi/moveit_cartesian_plan_plugin/include/moveit_cartesian_plan_plugin/widgets/path_planning_widget.h:25,
                 from /home/dell/Copy/ros_fanuc_ws/src/fermi/moveit_cartesian_plan_plugin/src/widgets/path_planning_widget.cpp:1:
/usr/include/qt4/QtGui/qsplitter.h:153:15: note: QTextStream& operator>>(QTextStream&, QSplitter&)
 Q_GUI_EXPORT QTextStream& operator>>(QTextStream&, QSplitter&);
               ^
/usr/include/qt4/QtGui/qsplitter.h:153:15: note:   no known conversion for argument 1 from ‘YAML::Node’ to ‘QTextStream&’
In file included from /usr/include/qt4/QtGui/QStandardItemModel:1:0,
                 from /home/dell/Copy/ros_fanuc_ws/src/fermi/moveit_cartesian_plan_plugin/include/moveit_cartesian_plan_plugin/widgets/path_planning_widget.h:23,
                 from /home/dell/Copy/ros_fanuc_ws/src/fermi/moveit_cartesian_plan_plugin/src/widgets/path_planning_widget.cpp:1:
/usr/include/qt4/QtGui/qstandarditemmodel.h:446:15: note: QDataStream& operator>>(QDataStream&, QStandardItem&)
 Q_GUI_EXPORT QDataStream &operator>>(QDataStream &in, QStandardItem &item);
               ^
/usr/include/qt4/QtGui/qstandarditemmodel.h:446:15: note:   no known conversion for argument 1 from ‘YAML::Node’ to ‘QDataStream&’
In file included from /usr/include/qt4/QtCore/qdebug.h:50:0,
                 from /usr/include/qt4/QtCore/qtconcurrentresultstore.h:50,
                 from /usr/include/qt4/QtCore/qfutureinterface.h:52,
                 from /usr/include/qt4/QtCore/qfuture.h:49,
                 from /usr/include/qt4/QtCore/qtconcurrentrunbase.h:49,
                 from /usr/include/qt4/QtCore/qtconcurrentrun.h:50,
                 from /usr/include/qt4/QtCore/QtConcurrentRun:1,
                 from /home/dell/Copy/ros_fanuc_ws/src/fermi/moveit_cartesian_plan_plugin/include/moveit_cartesian_plan_plugin/generate_cartesian_path.h:14,
                 from /home/dell/Copy/ros_fanuc_ws/src/fermi/moveit_cartesian_plan_plugin/include/moveit_cartesian_plan_plugin/add_way_point.h:32,
                 from /home/dell/Copy/ros_fanuc_ws/src/fermi/moveit_cartesian_plan_plugin/include/moveit_cartesian_plan_plugin/widgets/path_planning_widget.h:16,
                 from /home/dell/Copy/ros_fanuc_ws/src/fermi/moveit_cartesian_plan_plugin/src/widgets/path_planning_widget.cpp:1:
/usr/include/qt4/QtCore/qtextstream.h:288:21: note: QTextStream& operator>>(QTextStream&, QTextStreamFunction)
 inline QTextStream &operator>>(QTextStream &s, QTextStreamFunction f)
                     ^

I have these package installed:

$ dpkg -l | grep yaml
ii  libyaml-0-2:amd64                                           0.1.4-3ubuntu3                                      amd64        Fast YAML 1.1 parser and emitter library
ii  libyaml-cpp-dev                                             0.5.1-1                                             amd64        YAML parser and emitter for C++ - development files
ii  libyaml-cpp0.3:amd64                                        0.3.0-1.1                                           amd64        YAML parser and emitter for C++ (0.3 series)
ii  libyaml-cpp0.5:amd64                                        0.5.1-1                                             amd64        YAML parser and emitter for C++
ii  libyaml-tiny-perl                                           1.56-1                                              all          Perl module for reading and writing YAML files
ii  python-yaml                                                 3.10-4build4                                        amd64        YAML parser and emitter for Python

Do you know what's wrong?
It looks like you're using YAML 0.3 API instead of 0.5

I created a path utilizing the instructions in the README file (i.e. using demo.launch). Using the panel GUI, I initiated robot plan/motion.

[ INFO] [1403974798.365313596]: Received request to compute Cartesian path
[ INFO] [1403974798.365547983]: Attempting to follow 7 waypoints for link 'tool0' using a step of 0.010000 m and jump threshold 0.000000 (in global reference frame)
[ INFO] [1403974798.379733306]: Computed Cartesian path with 2 points (followed 0.317460% of requested trajectory)
[ INFO] [1403974798.387211351]: Computed time stamp SUCCEDED
[ INFO] [1403974798.387435961]: Visualizing plan (cartesian path) (0.32% acheived)

The robot dd not perform the motion (it reached only a single point). I'm not sure if this is a cartesian path planning issue or a moveit visualization issue.

FYI...ROS-Industrial has a better robot simulator than the stock moveit simulator which performs the robot motion reaching every joint point it is sent. The MoveIt simulator only moves to the final joint point.

When selecting waypoint from the tree, I initially thought the waypoint fields (in the section below the tree) would be populated with the selected waypoint. That did not occur. To modify an existing point, I had to work through the tree (which isn't so bad). When adding a point, I utilized the fields below. It seems to me that there are two different ways to do what feels like the same thing.

Can you please make cartesian impedance available for the ros-melodic version. It's only available for ros-indigo. If not, can you please let me the changes that I need to make it run in ros-melodic.
Thanks.

Does this package support ros kinetic?I downloaded the package and when I compiled the package with catkin, there where lot of errors.

Just a simple add on which will decide whether or not a Cartesian path is to be executed by the robot.
If the success of the Cartesian Path is above certain threshold then the MoveIt will execute this path if not the robot will not move at all.
For example if we have 8% success of Cartesian path of execution, this path should not be executed by the MoveIt.
I know this number is very user depended and different users would like to have different numbers but it would be nice feature to add...

I'm using ROS-Kinetic and I download the zip (indigo-dev)
and do the extraction just only the "moveit_cartesian_plan_plugin" into my src-folder

then $ catkin_make

and I got

from ~/catkin_ws/src/moveit_cartesian_plan_plugin/src/generate_cartesian_path.cpp:10:
/opt/ros/kinetic/include/geometric_shapes/bodies.h:41:2: error: #error This header requires at least C++11

Could you give me a hint to solve this problem

Thank you

Suggested improvements for graphical adding/deleting/modification of waypoints

• The cube marker is difficult to use, we may consider doing away with it. It currently does not allow you to rotate the cube, so added waypoints are always initiated in the default orientation. We may want to consider replacing the cube with the arrow waypoint marker (maybe a different color).
• Marker appearing/disappearing
  • "Selecting" the cube interactive marker hides all of the markers. It would be best if this did not occur
  • Utilizing the "Fine adjustment" menu option of the waypoint results in hiding all waypoints when the marker is selected. The pose/orientation marker is actually very good for modifying the waypoint if the waypoint remained visible (adding it to the cube marker may make it more usable).
• Unreachable waypoints should be identified in the visualization (different color?). MoveIt can determine if a point is reachable by performing IK. Note: The point may still be unreachable in a cartesian manor, but this is another issue.
• Duplicate waypoint method. There should be a way to duplicate a waypoint when adding.
• Insert waypoint method. Waypoints are currently ordered by when they are created. This makes it impossible to add a waypoint in the middle of a path.

The label of the arrow is far away from the arrow itself making it hard to recognize what text belongs to which arrow.

Hello,

I am using Melodic and when I type "rosdep install --from-paths src/ --ignore-src --rosdistro melodic" after git clone I get:

ERROR: the following packages/stacks could not have their rosdep keys resolved
to system dependencies:
fermi_sia20d_moveit_config: Cannot locate rosdep definition for [motoman_config]
fermi_irb2400_moveit_config: Cannot locate rosdep definition for [abb_common]

Can someone please explain me how to solve it?

There should be a way to duplicate a waypoint when adding.

In case you consider relevant I have made some changes to make it work with melodic

https://github.com/ahcorde/fermi/tree/melodic-devel

Dear all,

I'd like to integrate some kind of listener into the GUI of fermi/cartesian path planner to push the "Execute Cartesian Path" trough an external event.

Therefore I created a function which is called "chatterCallback". This function executes the same functions like pushing the button:

void PathPlanningWidget::chatterCallback()
{
PathPlanningWidget::sendCartTrajectoryParamsFromUI();			 PathPlanningWidget::parseWayPointBtn_slot();
}

Before that I inserted the code for listening to an topic. Manually checking the terminal I can read the data of "rostopic echo /mytopic". This, I'd like to read out:

int argc;
char** argv;
ros::init(argc, argv, "listener");
ros::NodeHandle n;
ros::Subscriber sub = n.subscribe("mytopic", 1000, chatterCallback());
ros::spin();

I got most of the information from here: http://wiki.ros.org/ROS/Tutorials/WritingPublisherSubscriber(c%2B%2B) but anyways, it is not working. Can you help me to solve this issue?

Best regards

@shaun-edwards, @gavanderhoorn, @davetcoleman
Would this be of interest to expand this already existing plugin to enable setting Cartesian Impedance parameters and Force Control?

It might be nice to test the messages and execution of paths with Cartesian Impedance using this plugin...

If yes we might create a new branch that utilizes this functionalities...