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visualization tutorial is now kinetic compatible #92

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merged 5 commits into from
Aug 10, 2017
Merged

visualization tutorial is now kinetic compatible #92

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69932d5
added kinetic compatability to setup_assistant
maxgittelman Jul 31, 2017
e2b74f2
make visualization tutorial kinetic compatable
maxgittelman Aug 1, 2017
1a8bdc3
corrected visualization tutorial to RViz checkbox that exists
maxgittelman Aug 1, 2017
eb9bdef
Merge branch 'kinetic-devel' into kinetic-devel
maxgittelman Aug 1, 2017
db35385
catkin build instead of catkin_make
maxgittelman Aug 2, 2017
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42 changes: 28 additions & 14 deletions doc/ros_visualization/visualization_tutorial.rst
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Expand Up @@ -15,11 +15,23 @@ and you should now have a MoveIt! configuration for the PR2 that you
can use. This tutorial assumes the generated MoveIt! configuration
package is called "pr2_moveit_config".

Alternately, you can just install the pre-made MoveIt! configuration
for the PR2 in the pr2_moveit_config ROS package. To install it,
run::
Alternately, you can source the MoveIt! configuration
for the PR2 in the pr2_moveit_config ROS package. If you don't yet
have a workspace for this tutorial create one below. Otherwise continue
to sourcing::

sudo apt-get install ros-indigo-moveit-pr2
mkdir moveit_ws
cd moveit_ws
mkdir src
cd ..
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Can you change this to the same two-liner used in the source install instructions?

mkdir -p ~/ws_moveit/src
cd ~/ws_moveit/src

catkin_make

Source and Build the moveit_config package

cd src
git clone https://github.com/davetcoleman/pr2_moveit_config.git
cd ..
catkin_make
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This should be catkin build, not catkin_make, because the rest of the tutorials use catkin tools.

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okay, what exactly is the difference? I'm quite new to ROS and would appreciate an explanation to the new guy

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Here is some documentation on catkin build and catkin_make's history. I'm not very familiar with catkin tools myself, but build is used throughout the other tutorials so it would be more consistent to continue its usage.

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Please see moveit's main source install instructions for how to use catkin build - its much better! http://moveit.ros.org/install/source/


This tutorial does **not** require you to actually have a PR2 robot,
it just needs a set of working robot model files.
Expand All @@ -43,7 +55,7 @@ Step 1: Launch the demo and Configure the Plugin
* In the "Global Options" tab of the "Displays" subwindow, set the **Fixed Frame** field to "/odom_combined"

* Now, you can start configuring the Plugin for your robot (the PR2 in
this case). Click on "MotionPlanning" in "Displays".
this case). Click on "MotionPlanning" within "Displays".

* Make sure the **Robot Description** field is set to "robot_description"

Expand Down Expand Up @@ -86,8 +98,10 @@ The display states for each of these visualizations can be toggled on and off us
Step 3: Interact with the PR2
-----------------------------

* Press **Interact** in the top menu of rviz. You should see a
couple of interactive markers appear for the right arm of the PR2.
* Press **Interact** in the top menu of rviz (Note: some tools may be
hidden, press **+** in the top menu to add the **Interact** tool.
You should see a couple of interactive markers appear for the
right arm of the PR2.

* One marker (corresponding to the orange colored right arm) will
be used to set the "Goal State" for motion planning. Another
Expand All @@ -111,13 +125,13 @@ with the other. The two links that are in collision will turn red.
.. image:: rviz_plugin_collision.png
:width: 300px

The "Use Collision-Aware IK" checkbox allows you to toggle the
behavior of the IK solver. When the checkbox is ticked, the solver
will keep attempting to find a collision-free solution for the desired
end-effector pose. When it is unticked, the solver will allow
collisions to happen in the solution. The links in collision will
always still be visualized in red, regardless of the state of the
checkbox.
The "Use Collision-Aware IK" checkbox found within the MotionPlanning
plugin allows you to toggle the behavior of the IK solver. When the
checkbox is ticked, the solver will keep attempting to find a
collision-free solution for the desired end-effector pose. When it is
unticked, the solver will allow collisions to happen in the solution.
The links in collision will always still be visualized in red,
regardless of the state of the checkbox.

.. image:: rviz_plugin_collision_aware_ik_checkbox.png
:width: 300px
Expand Down