Add hangar_sim

[pac48]

Closes PickNikRobotics/moveit_pro#10188
Closes PickNikRobotics/moveit_pro#9624
Closes PickNikRobotics/moveit_pro#10307
Closes PickNikRobotics/moveit_pro#10097

[griswaldbrooks]

@pac48 does src/hangar_sim/MOVEIT_PRO_IGNORE need to be removed?

[griswaldbrooks]

Not getting a lot here. Tested using moveit_pro version 7.3.0-rc2

rviz comes up automatically

with fixed frame as base_link

[pac48]

@griswaldbrooks That should not be causing this issue. I removed that file since it is not needed.

[griswaldbrooks]

According to this spreadsheet, I'm supposed to check that all the objectives have a category and description
https://docs.google.com/spreadsheets/d/181kJZ3gZRoaPawi7uzLwmRli52QPcYafaUjNc-KrEzE/edit?gid=0#gid=0

Seems there's work to do here

uncategorized

• 00_solution_-_move_to_initial_pose.xml
• 01_solution_-_create_a_pose.xml
• 02_solution_-_visualize_a_pose.xml
• 03_solution_-_pose_2m_above_the_robot.xml
• 04_solution_-_move_to_a_pose.xml
• 05_solution_-_define_a_path.xml
• 06_solution_-_visualize_a_path.xml
• 07_solution_-_plan_motion_for_a_path.xml
• 08_solution_-_execute_path_plan.xml
• 09_solution_-_an_infeasible_path.xml
• 10_solution_-_visualize_path_error.xml
• 11_solution_-_draw_a_square.xml
• 12_solution_-_constrain_orientation.xml
• 13_solution_-_load_a_path_from_file.xml
• 14_solution_-_load_from_file_execute.xml
• 15_solution_-_a_path_that_collides.xml
• 16_solution_-_checking_for_collisions.xml
• 17_solution_-_execute_the_feasible_path.xml
• 18_solution_-_define_a_coverage_path.xml
• 19_solution_-_execute_coverage_path.xml
• 20_solution_-_look_at_the_airfoil.xml
• 21_solution_-_find_the_airfoil.xml
• 22_solution_-_visualize_airfoil_frame.xml
• 23_solution_-_airfoil_coverage_origin.xml
• 24_solution_-_airfoil_coverage_path.xml
• 25_solution_-_execute_airfoil_coverage.xml
• 26_solution_-_better_coverage.xml
• bring_it.xml
• bring_it_start_from_waypoint.xml
• move_close_to_bar.xml
• pick_beer.xml
• pick_up_beer.xml
• pick_up_cube.xml
• run_clipseg.xml
• segment_point_cloud_from_clicked_point.xml
• move_boxes_to_loading_zone.xml
• move_boxes_to_loading_zone_from_waypoint.xml
• run_text_segmentation.xml
• segment_point_cloud_from_clicked_point.xml

no description

• 17_solution_-_execute_the_feasible_path.xml
• bring_it_start_from_waypoint.xml
• load_mesh_as_green_poincloud.xml
• load_mesh_as_red_pointcloud.xml
• look_at_table.xml
• pick_beer.xml
• pick_first_object_in_vector.xml
• pick_object.xml
• pick_up_beer.xml
• pick_up_cube.xml
• place_first_object_in_vector.xml
• place_object.xml
• register_cad_part.xml
• run_clipseg.xml
• take_snap.xml
• wrist_snap.xml

incorrect description

• move_boxes_to_loading_zone.xml

[griswaldbrooks]

Though I feel like certain objectives should be deleted? like the beer ones and bring it?

[pac48]

@griswaldbrooks I just updated the categories and removed the old objectives.

[mkhansenbot]

Let's remove all the ones that say "Solution xx" from this PR. Once this is merged, I'll submit a follow-up PR that adds the necessary training solution objectives.

[mkhansenbot]

Or I can remove them in the next PR, that's easy. Let's not let those block this from approval & merge

[griswaldbrooks]

I think it would be best to remove everything we don't need now.

[mkhansenbot]

Sounds good, I'll push new commits to this branch removing those objectives and replacing them with new ones

[mkhansenbot]

I just tried running the Move Boxes to Loading Zone objective and got this error:

Behavior: objective_server_node

Error: Failed to create behavior tree for Objective `Move Boxes to Loading Zone`. Reason: BehaviorTree error while creating tree: a port with name [keep_orientation_link_names] is found in the XML, but not in the providedPorts()

[mkhansenbot]

More feedback:
I don't see boxes in the simulation, should they be there?
Open Gripper and Close Gripper objectives do nothing because there's no gripper, just a suction EEF, should we remove those? Should we replace those with Turn on suction and Turn off suction?
I got an error when running Navigate to clicked point:

Behavior: objective_server_node

Error: Failed to create behavior tree for Objective `Navigate to Clicked Point`. Reason: BehaviorTree error while creating tree: Missing manifest for element_ID: GetPoseFromUser. It shouldn't happen. Please report this issue.

I get similar errors when running Run Text Segmentation and Segment Point Cloud from Clicked Point

Are any of those expected to work?

[mkhansenbot]

Teleoperate is also failing with the similar error as above

[griswaldbrooks]

You have to use main on the moveit_pro repo. You have to clone and update https://github.com/PickNikRobotics/moveit_pro git submodule update --init --recursive and edit /etc/moveit_pro/.version to say main instead of which ever version or rc you have in there. Then moveit_pro build before moveit_pro run

[griswaldbrooks]

Open Gripper and Close Gripper objectives do nothing because there's no gripper, just a suction EEF, should we remove those? Should we replace those with Turn on suction and Turn off suction?

We should move or fix this if possible.

[griswaldbrooks]

I don't see the boxes until the scan

[griswaldbrooks]

[griswaldbrooks]

Navigate to clicked point, Run Text Segmentation, and Segment Point Cloud from Clicked Point should all work.

[pac48]

More feedback: I don't see boxes in the simulation, should they be there? Open Gripper and Close Gripper objectives do nothing because there's no gripper, just a suction EEF, should we remove those? Should we replace those with Turn on suction and Turn off suction? I got an error when running Navigate to clicked point:

This is nice to have but I believe it is not currently possible without refactoring the site inheritance. The base config has gripper-related functionality, even our UI does when teleoperating. There is an assumption baked in that we will have a gripper. We should work on changes to this, but it's beyond the scope of this change in my opinion.

[pac48]

@mkhansenbot I think you need to be on main. It is possible that 7.3 will work.