lrmate200id_gazebo_demo: Pick and place demonstration with Fanuc LRMate200id in a situation with few sensors with reactive and adaptive planning

[wkentaro]

Task

Pick an object from red bin and place it in the shelf bin. This is called stow task.

Pipeline

Detect collision with force sensor input and stop the trajectory execution.
https://drive.google.com/file/d/0B9P1L--7Wd2vZ3lWUmxrWUNWb2M/view?usp=sharing

Adapt the environment to complete the stow task.
https://drive.google.com/file/d/0B9P1L--7Wd2vZ0RGOVprZXVLZlU/view?usp=sharing

Usage

roslaunch fanuc_lrmate200id_gazebo_demo apc_stow.launch

[gavanderhoorn]

@wkentaro: I'm getting back to reviewing your PRs. For this particular one though, I have a feeling that the introduced fanuc_lrmate200id_gazebo_demo package might be better placed in a separate repository, and not in the main fanuc_experimental. Reason being that both the fanuc and fanuc_experimental repositories are only meant to provide drivers, support and moveit configs, but not applications (which I think your demo essentially is).

I do believe there is value in having these sort of demos around though, so if you agree, I'd like to create a fanuc_demos repository. You could then submit a PR introducing the fanuc_lrmate200id_gazebo_demo package there.

Does that make sense?

[gavanderhoorn]

Also, if I may suggest: would it be an idea to change the name of your demo package from fanuc_lrmate200id_gazebo_demo -- which is rather generic -- to something a bit more descriptive? Say: fanuc_lrmate200id_gazebo_apc_stow_demo?

That would seem to cover quite well the contents and intent of the package. You're free to choose another name of course, this was just an example.

[gavanderhoorn]

@wkentaro: 🔔 ?

[wkentaro]

Sorry for late reply.
I agree with your idea of creating new package for the demo programs.
Could you please go ahead for that?

[gavanderhoorn]

@wkentaro: I've created the fanuc_demos repository.

Could you open a PR there, that includes just the actual application? All the support & and gazebo package changes should remain in this repository (fanuc_experimental).

[wkentaro]

Ok thanks!

[gavanderhoorn]

🔔 ?