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Latest moveit commander has changed the parameters list for the funct… #3

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Merged
andrewluiqut merged 1 commit into from
Nov 8, 2024
Merged

Latest moveit commander has changed the parameters list for the funct… #3

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13 changes: 8 additions & 5 deletions arm_commander/commander_moveit.py
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Original file line number Diff line number Diff line change
Expand Up @@ -616,7 +616,6 @@ def invoke_service(self, ns: str, cls, **kwargs) -> None:
else:
rospy.loginfo(f"[GeneralCommander::invoke_service][Service invoked successfully]")


def controller_select(self, controller_type: ControllerState = ControllerState.TRAJECTORY) -> bool:
"""Attempts to select a given controller via controller manager

Expand Down Expand Up @@ -706,7 +705,8 @@ def move_displacement(self, dx=0.0, dy=0.0, dz=0.0, accept_fraction=0.9999, wait
target_pose.pose.position.y += dy
target_pose.pose.position.z += dz
waypoints = [current_pose.pose, target_pose.pose]
(plan, fraction) = self.move_group.compute_cartesian_path(waypoints, self.CARTE_PLANNING_STEP_SIZE, 0.00)
# changed for new moveit version
(plan, fraction) = self.move_group.compute_cartesian_path(waypoints, self.CARTE_PLANNING_STEP_SIZE)
if fraction < accept_fraction:
rospy.logerr(f'Planning failed')
self.commander_state = GeneralCommanderStates.ABORTED
Expand Down Expand Up @@ -766,7 +766,8 @@ def move_to_position(self, x:float=None, y:float=None, z:float=None, accept_frac
target_in_world_frame:PoseStamped = self.transform_pose(target_pose, self.WORLD_REFERENCE_LINK)
waypoints = [current_in_world_frame.pose, target_in_world_frame.pose]
self.commander_state = GeneralCommanderStates.BUSY
(plan, fraction) = self.move_group.compute_cartesian_path(waypoints, self.CARTE_PLANNING_STEP_SIZE, 0.00)
# changed for new moveit version
(plan, fraction) = self.move_group.compute_cartesian_path(waypoints, self.CARTE_PLANNING_STEP_SIZE)
if fraction < accept_fraction:
rospy.logerr(f'The commander (move_to_position): planning failed due to collision ({fraction})')
self.commander_state, self.commander_state.message = GeneralCommanderStates.ABORTED, 'PLANNING_FAILED_DUE_TO_COLLISION'
Expand Down Expand Up @@ -826,7 +827,8 @@ def move_to_multi_positions(self, xyz_list, reference_frame:str=None, wait=True)
waypoints_list.append(waypoint_in_world_frame.pose)

self.commander_state = GeneralCommanderStates.BUSY
(plan, fraction) = self.move_group.compute_cartesian_path(waypoints_list, self.CARTE_PLANNING_STEP_SIZE, 0.00)
# changed for new moveit version
(plan, fraction) = self.move_group.compute_cartesian_path(waypoints_list, self.CARTE_PLANNING_STEP_SIZE)
if fraction < 0.999:
rospy.logerr(f'The commander (move_to_multi_positions): planning failed due to collision ({fraction})')
self.commander_state, self.commander_state.message = GeneralCommanderStates.ABORTED, 'PLANNING_FAILED_DUE_TO_COLLISION'
Expand Down Expand Up @@ -1008,7 +1010,8 @@ def move_to_multi_poses(self, waypoints_list, reference_frame:str=None, wait=Tru
processed_waypoints_list.append(waypoint_in_world_frame.pose)

self.commander_state = GeneralCommanderStates.BUSY
(plan, fraction) = self.move_group.compute_cartesian_path(processed_waypoints_list, self.CARTE_PLANNING_STEP_SIZE, 0.00)
# changed for new moveit version
(plan, fraction) = self.move_group.compute_cartesian_path(processed_waypoints_list, self.CARTE_PLANNING_STEP_SIZE)
if fraction < 0.999:
rospy.logerr(f'The commander (move_to_multi_poses): planning failed due to collision ({fraction})')
self.commander_state, self.commander_state.message = GeneralCommanderStates.ABORTED, 'PLANNING_FAILED_DUE_TO_COLLISION'
Expand Down
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