Tutorial for running multiple groups/arms. #621

ur10 · 2021-04-06T02:43:57Z

Description

Added a short tutorial for running multiple groups/arms.

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welcome · 2021-04-06T02:43:58Z

Thanks for helping in improving MoveIt and open source robotics!

MarqRazz

Thanks for adding the tutorial @ur10!

For the new tutorial to appear on the web page you need to add it to the index.rst file by adding doc/multi_group/multi_group_tutorial after line 53. This is also why the first CI test is failing.

The other test is failing because of #613

ur10 · 2021-04-09T03:54:25Z

Thanks for the review! I will make the necessary changes.

felixvd

Thanks for this. It's a great start towards more complex tutorials.

I think this is very helpful, but it should have more detail and example code. Especially setting goals for groups with multiple end effectors is not very intuitive. There are some examples here. It might be worth linking to the repo in general (although I'm biased) and the Applications page.

To make this tutorial really good and useful, while writing please imagine a user who knows basically nothing and who wants to execute it. Do they need to add or set something on their own? Do they have to think before being able to see something move? Are you suppling everything that they might ask themselves or might get stuck on? Will they know where to look? Finally, is the code reasonably boilerplate-like so it can be a reference? All of that will be a plus.

doc/multi_group/multi_group_tutorial.rst

felixvd · 2021-04-06T12:45:10Z

doc/multi_group/multi_group_tutorial.rst

+Moving multiple arms asynchronously
+--------------------------------------
+
+As of now, there is no accepted method provided by moveit to move multiple arms asynchronously. For more details kindly refer to this `issue <https://github.com/ros-planning/moveit/issues/2287>`_.


That's not quite right. I described a workaround and the conditions under which it can be used here, and jrgnicho mentioned another one in the thread. "no accepted method" is also too vague.

I believe he refactored this well

davetcoleman · 2021-05-03T15:52:41Z

doc/multi_group/multi_group_tutorial.rst

+--------------------------------------
+
+Currently we can not plan for two separate trajectories for two different arms and execute them separately using the ``MoveGroupInterface``.
+The workaround to this is to take the planned trajectories for left and right arm and send them as a goal to the action server of the robot arm .The problem however,


Suggested change

The workaround to this is to take the planned trajectories for left and right arm and send them as a goal to the action server of the robot arm .The problem however,

The workaround to this is to take the planned trajectories for left and right arm and send them as a goal to the action server of the robot arm. The problem however,

@ur10 No offense, but if you could go through this with a spell checker, that would help a lot.

Oh, ok. I will do a quick check.

davetcoleman · 2021-05-03T15:53:00Z

doc/multi_group/multi_group_tutorial.rst

+Moving multiple arms asynchronously
+--------------------------------------
+
+As of now, there is no accepted method provided by moveit to move multiple arms asynchronously. For more details kindly refer to this `issue <https://github.com/ros-planning/moveit/issues/2287>`_.


I believe he refactored this well

davetcoleman

This is a really great contribution to the tutorials!!

davetcoleman · 2021-05-03T15:53:29Z

doc/multi_group/src/multi_group_tutorial.cpp

+  spinner.start();
+
+  std::string movegroup_name, ee1_link, ee2_link;
+  int counter = 1;


add comment about what this is for

Got it. I will make the changes

davetcoleman · 2021-05-03T15:53:56Z

doc/multi_group/src/multi_group_tutorial.cpp

+  nh.param<std::string>("ee_link1", ee1_link, "panda_1_link8" );
+  nh.param<std::string>("ee_link2", ee2_link, "panda_2_link8" );
+
+  // We choose the rate at which this node should run. For our case it's 0.2 Hz(5 seconds)


Suggested change

// We choose the rate at which this node should run. For our case it's 0.2 Hz(5 seconds)

// We choose the rate at which this node should run. For our case it's 0.2 Hz (5 seconds)

davetcoleman · 2021-05-03T15:54:34Z

doc/multi_group/src/multi_group_tutorial.cpp

+    ROS_WARN("Something went wrong moving the robots to home position.");
+  }
+
+  ros::Duration(2.0).sleep(); // 2 seconds


Are sleep timers this long really necessary?

No. A 1-second sleep should suffice.

davetcoleman · 2021-05-03T15:55:07Z

doc/multi_group/src/multi_group_tutorial.cpp

+        loop_rate_->sleep();
+      }
+
+    counter = (counter +1 ) % 2;


Suggested change

counter = (counter +1 ) % 2;

counter = (counter++) % 2;

Slightly fancier?

Yes, this seems better. :)

felixvd

Just some short comments.

felixvd · 2021-05-08T12:33:09Z

doc/multi_group/src/multi_group_tutorial.cpp

+  target1.pose.position.x = 0.8;
+  target1.pose.position.y = 0.3;
+  target1.pose.position.z = 0.7;
+  target1.pose.orientation.w = 1;


Use tf::createQuaternionMsgFromRollPitchYaw to make this meaningful and shorter

felixvd · 2021-05-08T12:33:52Z

doc/multi_group/multi_group_tutorial.rst

+But before starting with multiple arms, the concept of planning groups, there usage and significance of multiple planning groups for multiple end effectors
+needs to be understood clearly. kindly go through `this <https://answers.ros.org/question/321843/how-is-moveit-planning-group-supposed-to-be-used/>`_ answer if you are a beginner/new to these concepts.


As mentioned in the comment, please use a spell checker to fix grammar etc. throughout the text

felixvd · 2021-05-08T12:34:20Z

doc/multi_group/multi_group_tutorial.rst

+
+Robot model used
+----------------
+This tutorial will use the two panda arms for demonstration. The urdf of the two panda arms can be seen `here <https://github.com/frankaemika/franka_ros/blob/kinetic-devel/franka_description/robots/dual_panda_example.urdf.xacro>`_.


felixvd · 2021-05-08T12:35:40Z

doc/multi_group/multi_group_tutorial.rst

+Moving the two arms in sync
+-----------------------------
+
+First of all define the individual arms and their end-effectors in respective groups as shown -


Suggested change

First of all define the individual arms and their end-effectors in respective groups as shown -

First of all define the individual arms and their end-effectors in respective groups as shown below:

Same for the other occurrences of this hyphen

felixvd · 2021-05-08T12:37:50Z

doc/multi_group/multi_group_tutorial.rst

+.. image:: end_effectors.png
+   :width: 800px
+
+Then combine all the planning groups into a common planning group, in this case - "both_bots" in the srdf file : ::


Suggested change

Then combine all the planning groups into a common planning group, in this case - "both_bots" in the srdf file : ::

Then combine all the planning groups into a common planning group, in this case - "both_bots" in the srdf file: ::

No spaces before colons

Tutorial for running multiple groups/arms moveit#465

49dba3a

ur10 changed the title ~~Tutorial for running multiple groups/arms #465~~ Tutorial for running multiple groups/arms (#465). Apr 6, 2021

ur10 changed the title ~~Tutorial for running multiple groups/arms (#465).~~ Tutorial for running multiple groups/arms. Apr 6, 2021

ur10 mentioned this pull request Apr 6, 2021

Running multiple move_groups and/or robot arms #465

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tylerjw requested a review from MarqRazz April 8, 2021 21:47

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Tutorial for running multiple groups/arms

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Tutorial for running multiple groups/arms. #621

Tutorial for running multiple groups/arms. #621

ur10 commented Apr 6, 2021

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felixvd May 8, 2021

	The workaround to this is to take the planned trajectories for left and right arm and send them as a goal to the action server of the robot arm .The problem however,
	The workaround to this is to take the planned trajectories for left and right arm and send them as a goal to the action server of the robot arm. The problem however,

	// We choose the rate at which this node should run. For our case it's 0.2 Hz(5 seconds)
	// We choose the rate at which this node should run. For our case it's 0.2 Hz (5 seconds)

		But before starting with multiple arms, the concept of planning groups, there usage and significance of multiple planning groups for multiple end effectors
		needs to be understood clearly. kindly go through `this <https://answers.ros.org/question/321843/how-is-moveit-planning-group-supposed-to-be-used/>`_ answer if you are a beginner/new to these concepts.

	First of all define the individual arms and their end-effectors in respective groups as shown -
	First of all define the individual arms and their end-effectors in respective groups as shown below:

	Then combine all the planning groups into a common planning group, in this case - "both_bots" in the srdf file : ::
	Then combine all the planning groups into a common planning group, in this case - "both_bots" in the srdf file: ::

Tutorial for running multiple groups/arms. #621

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Tutorial for running multiple groups/arms. #621

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ur10 commented Apr 6, 2021

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