Add support for visualization and relative positioning in refactored playback server

[petschekr]

No description provided.

[vchu]

Going through the code now. I can't seem to find what branch or location for the arm_moveit.py changes that are required. I can't test the rest of this until I know what changes need to be made for arm_moveit.py.

EDIT: Hm nvm. Looks like the change is on the master branch and not the 7dof. I'll go ahead and merge in the changes to the 7dof arm branch.

[petschekr]

I think those were made in on master a little while back. Is there anything I forgot to push?

[vchu]

Yup, I just checked the master and you're right it is there. I'm on the 7dof branch. Pulling in changes now. Thanks for the quick response!

[petschekr]

No problem!

[vchu]

@petschekr Can you add some more details in the documentation? Currently, it is unclear how I'm supposed to visualized the recorded point clouds (or maybe I'm not supposed to?)

Also, there are a bunch of new features you've added (object location, etc.) that haven't been documented at all in the wiki.

[vchu]

Another thing :)

So once the user has previewed the trajectory. We need a way to select that specific trajectory (the .pkl saved) and play that exact trajectory. I tried selecting the pkl file from the GUI and it errors out:

Traceback (most recent call last): File "/home/vchu/catkin_ws/src/hlpr_kinesthetic_teaching/rqt_kinesthetic_teaching/src/rqt_kinesthetic_teaching/kinesthetic_teaching_widget.py", line 118, in browseForLocation self.loadLocation() File "/home/vchu/catkin_ws/src/hlpr_kinesthetic_teaching/rqt_kinesthetic_teaching/src/rqt_kinesthetic_teaching/kinesthetic_teaching_widget.py", line 152, in loadLocation parsedData = self.keyframeBagInterface.parse(location) File "/home/vchu/catkin_ws/src/hlpr_kinesthetic_teaching/rqt_kinesthetic_teaching/src/rqt_kinesthetic_teaching/keyframe_bag_interface.py", line 66, in parse with rosbag.Bag(file) as bag: File "/opt/ros/indigo/lib/python2.7/dist-packages/rosbag/bag.py", line 173, in __init__ self._open(f, mode, allow_unindexed) File "/opt/ros/indigo/lib/python2.7/dist-packages/rosbag/bag.py", line 1096, in _open if mode == 'r': self._open_read(f, allow_unindexed) File "/opt/ros/indigo/lib/python2.7/dist-packages/rosbag/bag.py", line 1124, in _open_read self._version = self._read_version() File "/opt/ros/indigo/lib/python2.7/dist-packages/rosbag/bag.py", line 1232, in _read_version version_line = self._file.readline().rstrip().decode() UnicodeDecodeError: 'ascii' codec can't decode byte 0x80 in position 0: ordinal not in range(128)

My guess it is because it isn't designed for it at all. Can you either add another field in the GUI or a case where if the user loads the PKL file, it will play back that exact pkl trajectory? This is higher priority than orientation currently. Without guaranteeing that the viewed trajectory is the one the robot will execute, we can't guarantee the robot won't collide with anything.

If the system does it already by default, then it should be clear in some sort of status that it is playing back the previewed trajectory.

[petschekr]

@vchu Loading and playing back .pkl files is now available.

Visualizing recorded point clouds from .bag files is not supported because I didn't realize that that is something that should be implemented. Is this something you want me to add? Currently, point clouds are published by the object locator but only if they are in the current scene.

Also, I'm working on documenting all of the new features now.

[petschekr]

Documentation updated at https://github.com/HLP-R/hlpr_documentation/wiki/Kinesthetic-Teaching-GUI

[vchu]

holding off on this PR until some weird double playback has been resolved that might or might not be related to any of these changes.

[petschekr]

@vchu I think I fixed the playback problem in 232a271 by decreasing the orientation tolerance for MoveIt from an excessive number.

[vchu]

Nice! Will get to testing it later today or tomorrow.