From 11f5779b0ae4973f4c559566c4da80fe95d33c6e Mon Sep 17 00:00:00 2001 From: Abishalini Date: Thu, 30 Nov 2023 10:11:19 -0700 Subject: [PATCH 1/6] Add ros2 kortex to upstream repos --- .github/upstream.repos | 5 +++++ 1 file changed, 5 insertions(+) diff --git a/.github/upstream.repos b/.github/upstream.repos index bfbfc0ce54..fb8d1dcba3 100644 --- a/.github/upstream.repos +++ b/.github/upstream.repos @@ -15,3 +15,8 @@ repositories: type: git url: https://github.com/PickNikRobotics/rviz_visual_tools.git version: ros2 + # Remove ros2_kortex when rolling binaries are available. + ros2_kortex: + type: git + url: https://github.com/Kinovarobotics/ros2_kortex.git + version: main From 2c7d8ffd4f8853e930c26602d07d22d63dea86c2 Mon Sep 17 00:00:00 2001 From: Abishalini Date: Thu, 30 Nov 2023 10:41:12 -0700 Subject: [PATCH 2/6] Update to commit with planning pipeline refactor change --- .github/upstream.repos | 2 +- moveit2_tutorials.repos | 2 +- 2 files changed, 2 insertions(+), 2 deletions(-) diff --git a/.github/upstream.repos b/.github/upstream.repos index fb8d1dcba3..61bbb1503b 100644 --- a/.github/upstream.repos +++ b/.github/upstream.repos @@ -19,4 +19,4 @@ repositories: ros2_kortex: type: git url: https://github.com/Kinovarobotics/ros2_kortex.git - version: main + version: 740d21b diff --git a/moveit2_tutorials.repos b/moveit2_tutorials.repos index 9a552cf423..c7339718e3 100644 --- a/moveit2_tutorials.repos +++ b/moveit2_tutorials.repos @@ -11,7 +11,7 @@ repositories: ros2_kortex: type: git url: https://github.com/Kinovarobotics/ros2_kortex.git - version: main + version: 740d21b rviz_visual_tools: type: git url: https://github.com/PickNikRobotics/rviz_visual_tools.git From 23474fef10f98d0a9d5174ca633ee4370f1bda97 Mon Sep 17 00:00:00 2001 From: Abishalini Date: Thu, 30 Nov 2023 12:34:09 -0700 Subject: [PATCH 3/6] Add ros2_robotiq_gripper repo for source build --- .github/upstream.repos | 7 ++++++- moveit2_tutorials.repos | 2 +- 2 files changed, 7 insertions(+), 2 deletions(-) diff --git a/.github/upstream.repos b/.github/upstream.repos index 61bbb1503b..4e5c5e8ef7 100644 --- a/.github/upstream.repos +++ b/.github/upstream.repos @@ -19,4 +19,9 @@ repositories: ros2_kortex: type: git url: https://github.com/Kinovarobotics/ros2_kortex.git - version: 740d21b + version: main + # Remove ros2_robotiq_gripper when rolling binaries are available + ros2_robotiq_gripper: + type: git + url: https://github.com/PickNikRobotics/ros2_robotiq_gripper.git + version: main diff --git a/moveit2_tutorials.repos b/moveit2_tutorials.repos index c7339718e3..9a552cf423 100644 --- a/moveit2_tutorials.repos +++ b/moveit2_tutorials.repos @@ -11,7 +11,7 @@ repositories: ros2_kortex: type: git url: https://github.com/Kinovarobotics/ros2_kortex.git - version: 740d21b + version: main rviz_visual_tools: type: git url: https://github.com/PickNikRobotics/rviz_visual_tools.git From 3b9fadf2b021dbc4ecc0db99f1538c902b80960f Mon Sep 17 00:00:00 2001 From: Abishalini Date: Thu, 30 Nov 2023 12:40:56 -0700 Subject: [PATCH 4/6] Add serial to .repos file --- .github/upstream.repos | 7 ++++++- 1 file changed, 6 insertions(+), 1 deletion(-) diff --git a/.github/upstream.repos b/.github/upstream.repos index 4e5c5e8ef7..bb6d462e3b 100644 --- a/.github/upstream.repos +++ b/.github/upstream.repos @@ -20,8 +20,13 @@ repositories: type: git url: https://github.com/Kinovarobotics/ros2_kortex.git version: main - # Remove ros2_robotiq_gripper when rolling binaries are available + # Remove ros2_robotiq_gripper when rolling binaries are available. ros2_robotiq_gripper: type: git url: https://github.com/PickNikRobotics/ros2_robotiq_gripper.git version: main + # Serial is a dependency of ros2_robotiq_gripper. Remove when ros2_robotiq_gripper binaries are available. + serial: + type: git + url: https://github.com/tylerjw/serial.git + version: ros2 From 6020ecb3f89959ed8679216cffe329bf5320cbd6 Mon Sep 17 00:00:00 2001 From: Abishalini Date: Thu, 30 Nov 2023 21:35:07 -0700 Subject: [PATCH 5/6] Add ros2_robotiq_gripper to moveit2_tutorials.repo --- moveit2_tutorials.repos | 10 ++++++++++ 1 file changed, 10 insertions(+) diff --git a/moveit2_tutorials.repos b/moveit2_tutorials.repos index 9a552cf423..0ac0ba818d 100644 --- a/moveit2_tutorials.repos +++ b/moveit2_tutorials.repos @@ -12,6 +12,16 @@ repositories: type: git url: https://github.com/Kinovarobotics/ros2_kortex.git version: main + # Remove ros2_robotiq_gripper when rolling binaries are available. + ros2_robotiq_gripper: + type: git + url: https://github.com/PickNikRobotics/ros2_robotiq_gripper.git + version: main + # Serial is a dependency of ros2_robotiq_gripper. Remove when ros2_robotiq_gripper binaries are available. + serial: + type: git + url: https://github.com/tylerjw/serial.git + version: ros2 rviz_visual_tools: type: git url: https://github.com/PickNikRobotics/rviz_visual_tools.git From 4cbda62a3cdaad5c05a0504ee45a7e68dba687fd Mon Sep 17 00:00:00 2001 From: Abishalini Date: Thu, 30 Nov 2023 23:37:28 -0700 Subject: [PATCH 6/6] Remove dead link --- doc/examples/planning_adapters/planning_adapters_tutorial.rst | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/doc/examples/planning_adapters/planning_adapters_tutorial.rst b/doc/examples/planning_adapters/planning_adapters_tutorial.rst index b1635a5688..ef8cde65e9 100644 --- a/doc/examples/planning_adapters/planning_adapters_tutorial.rst +++ b/doc/examples/planning_adapters/planning_adapters_tutorial.rst @@ -53,7 +53,7 @@ To achieve this, follow the steps: default_planner_request_adapters/FixStartStatePathConstraints chomp/OptimizerAdapter" /> -#. The values of the ``planning_adapters`` is the order in which the mentioned adapters are called / invoked. Order here matters. Inside the CHOMP adapter, a :moveit_codedir:`call ` to OMPL is made before invoking the CHOMP optimization solver, so CHOMP takes the initial path computed by OMPL as the starting point to further optimize it. +#. The values of the ``planning_adapters`` is the order in which the mentioned adapters are called / invoked. Order here matters. Inside the CHOMP adapter, a call to OMPL is made before invoking the CHOMP optimization solver, so CHOMP takes the initial path computed by OMPL as the starting point to further optimize it. #. Find the line where ```` is mentioned and after this line, add the following: ::