Use custom robot collision padding in occupancy map shape padding #509
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…ancy map shape padding as well
| @@ -593,6 +593,10 @@ void planning_scene_monitor::PlanningSceneMonitor::excludeRobotLinksFromOctree() | |||
| const std::vector<const robot_model::LinkModel*> &links = getRobotModel()->getLinkModelsWithCollisionGeometry(); | |||
| for (std::size_t i = 0 ; i < links.size() ; ++i) | |||
| { | |||
| const double &link_padding = getPlanningScene()->getCollisionRobot()->getLinkPadding(links[i]->getName()); | |||
| const double &link_scale = getPlanningScene()->getCollisionRobot()->getLinkScale(links[i]->getName()); | |||
| std::cout << "link " << links[i]->getName() << " has padding " << link_padding << " and scale " << link_scale << std::endl; | |||
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This line seems spammy -- should probably be a ros debug or something.
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It totally is, good catch!
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+1, as long as docs also get updated (although, I'm not even sure where the docs are anymore...) |
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Would be great if someone was interested in porting this PR to the new repo, but I have lost interest in it so will close it for now. |
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@davetcoleman I do not think it is a good idea to just close contributions that worked at some point. |
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Sure no problem, though its my PR so can close as I wish ;-) |
…eit#509) **Issue** When editing an existing moveit_config pkg, MSA opens the location of MSA packace, which is useless. **Approach with the suggested change** Opens the "current" directory where `setup_assistant.launch` was started, which is often where the existing moveit_config package you'd like to edit is located.
Currently you can only use one padding and scale value for all robot self-filtering. I have an application where the fingers and end effector should have no padding or scaling, but I'd like the rest of the robot to still have padding.
This change uses the same variable collision padding as set in the planning scene monitor for the perception pipeline. Does not change API because the new function parameters have default values.
This does break user's current
sensors_rgbd.yamlfiles in that it will not longer use padding from there, but instead frompaddings.yamlfile.I'd also be happy to create default configuration files for the Setup Assistant for these changes.