Add tutorial for warehouse_ros(_sqlite) #101
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Undo this change after warehouse_ros_sqlite is moved to ros-planning
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Thank you so much @gleichdick !
When I proposed to add a tutorial for it, I actually assumed you would add a ROS tutorial instead.
Could you also copy&paste the tutorial to https://github.com/ros-planning/moveit_tutorials and adapt the launch file part for ROS?
| Currently, two storage plugins (based on | ||
| `warehouse_ros <https://github.com/ros-planning/warehouse_ros>`_) are available: | ||
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| * `warehouse_ros_mongo <https://github.com/ros-planning/warehouse_ros_mongo>`_, which uses MongoDB as backend (default) |
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I don't think it makes sense to highlight this as the default.
If anything most new users of these methods will default to the simpler sqlite backend.
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I agree, but then we have to change all the demo files and the templates for the MSA. This would be a breaking change, maybe postpone it to the next distro (H Turtle)?
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There is no official MSA for MoveIt2 yet, so we still have all the flexibility there as far as I know. :)
But yes, in MoveIt the config templates mention mongodb in multiple places, so de facto that makes it the default.
However, I would still prefer to remove the (default) part to not bias potential users into thinking mongodb might be better.
doc/persistent_scenes_and_states/persistent_scenes_and_states.rst
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doc/persistent_scenes_and_states/persistent_scenes_and_states.rst
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| To save a start state, drag the green manipulator to the correct position and click "Save Start". | ||
| The goal state (orange manipulator) can be saved with the "Save Goal" button. | ||
| To restore a state, select it in the list and click on "Set as Start" resp. "Set as Goal". |
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the user experience is really horrible with this GUI... I just tried to use this for something productive.
But of course reworking the GUI is outside of the scope of this.
| ## CALL_SUB_TUTORIAL set_config_move_group | ||
| ## CALL_SUB_TUTORIAL set_config_rviz | ||
| ## CALL_SUB_TUTORIAL start_mongodb_server | ||
| ## END_TUTORIAL |
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I'm not familiar with the current MoveIt launch file code in ROS2 (In my naive opinion it's a horrible and entirely useless pile of crap that does not scale), so I can't review this file at all.
Please review this file @JafarAbdi @henningkayser
Do you really add these whole stacks to each and every tutorial?
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All launch files will be simplified once moveit/moveit2#591 is merged. No need to adapt this launch file, though.
Co-authored-by: Michael Görner <[email protected]>
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This is the ROS1 version: moveit/moveit_tutorials#658 |
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@gleichdick Great work, thanks a lot! I tested this, works perfectly for me. I think this is really useful and would even consider using sqlite as new default. There are some minor changes that should be applied before merging.
Could you start another attempt at migrating https://github.com/gleichdick/warehouse_ros_sqlite over to ros-planning? Sorry, that the last attempts weren't responded.
| ## CALL_SUB_TUTORIAL set_config_move_group | ||
| ## CALL_SUB_TUTORIAL set_config_rviz | ||
| ## CALL_SUB_TUTORIAL start_mongodb_server | ||
| ## END_TUTORIAL |
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All launch files will be simplified once moveit/moveit2#591 is merged. No need to adapt this launch file, though.
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Moving the repo finally worked 😁 |
You have no idea how much communication without feedback, policy discussion, struggles for exclusive ownership and frustration was involved to get there. After sufficient escalation and multiple months of waiting it's suddenly easy to get time from four PickNik employees over night to write long discussion mails, review PRs and initiate the repository transfer with you. 😣 A weak thank you to @nbbrooks for getting this done eventually and finally acting according to his level of access. |
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@gleichdick apologies for the delay, I forgot the blocker for a repo transfer from individual -> organization was on our end. Thank you for the upgrade! |
Co-authored-by: Michael Görner <[email protected]>
Description
As discussed in the maintainer meeting in June,
another plugin for warehouse_ros is expected to be moved into ros-planning. One condition was to extend the tutorials regarding saving and restoring of states.
I wrote the tutorial as if warehouse_ros_sqlite is already part of ros_planning and released.
Any remarks and comments are welcome!
Checklist