Noetic release

[rickstaa]

We just released the initial version of the Noetic branch. This issue will be used for the rest of the release process.

Upstream pull requests that are required

The following upstream pull requests need to be merged for the Noetic branch to be warning and error free:

• Moves finger collision geometries to the finger joints frankaemika/franka_ros#151 needs to be merged to get rid of the Link panda_rightfinger has visual geometry but no collision geometry. Collision geometry will be left empty. Fix your URDF file by explicitly specifying collision geometry. warning.
  EDIT: Replaced by https://github.com/frankaemika/franka_ros/pull/188/commits
• Adds 'use_collision_mesh' arg to the robot description frankaemika/franka_ros#154 could improve the self-collision behaviour. When this pull request is merged, we can 'use_collision_mesh' arg to let MoveIt plan with the more accurate collision meshes. In that case aa24fae is then not needed anymore. If we however decide to do this we have to keep in mind that MoveIt can plan paths that are not possible on the real robot.
  EDIT: Replaced by https://github.com/frankaemika/franka_ros/pull/188/commits
• The Noetic branch has been created using the moveit_setup_assistant found in tree/82378877879f7d40727819b1c3345eeb4308d98b. The current MoveIt debian package does not include the pilz_industrial_motion_planner. As a result, MoveIt first has to create a new release before it can be used with the debian packages.

The following upstream pull request is required for the simulation to work:

• Adds position and velocity motion generators to FrankaHWSim frankaemika/franka_ros#181 needs to be merged for us to use the position_joint_trajectory_controller.
• Fixes franka_gripper_sim GripperCommand action frankaemika/franka_ros#173 needs to be merged before MoveIt can correctly control the gripper. Currently, MoveIt can only open and close the gripper but not set a desired width.
  EDIT: Not merged see Fixes franka_gripper_sim GripperCommand action frankaemika/franka_ros#173 (comment).

Noetic branch todos

• As pointed out by @tahsinkose in c46c81c#r58426734 the version of the franka_gazebo package should be pinnned to v0.8.* or higher. We can do this by using the version_gte argument when the upstream issues have been merged.
• We have to check if remaping joint_states to joint_states_desired in the move_group.launch file is still needed
  EDIT(rhaschke): joint_states_desired just reports commanded joint values. Not needed for MoveIt.
• We have to add the stomp_ros package as a commented-out depedency when its debian package been released (see Release? ros-industrial/stomp_ros#1).
• noetic-devel fixups rhaschke/panda_moveit_config#14 Needs to be merged into the noetic-branch.
• Restructure controller managers #92 The new moveit_sim_controller should be added to the controller_managers.
  EDIT(rhaschke): Better consider http://wiki.ros.org/fake_joint
• Cleanup #91 The code should be cleaned up.
• Change repository documentation url to noetic. Currently on kinetic.
• Check and update the moveit_tutorials.

Moveit_setup_assistant todos

I found several improvements that can be made to the MSA.

• Maybe we can add the ability to use action services as controllers (i.e. https://github.com/rickstaa/panda_moveit_config/blob/47073b308a66a322146c7544f943533575f99d9e/config/panda_gripper_moveit_controllers.yaml#L14-L20).
  EDIT(rhaschke): Using the moveit_controller_manager:=simple should enable the GripperCommand action
• Maybe we should move controllers_list from ros_controllers.yaml into its own file as these are only needed for MoveIt while the settings in the ros_controllers.yaml file should only contain settings related to the ROS control
  MSA: Rework ROS controllers config moveit#2945
• The code that loads the robot_description in the gazebo.launch template should use xacro if a .xacro file is provided by the user.
  MSA: Rework ROS controllers config moveit#2945
• As the https://github.com/frankaemika/franka_ros was changed, the code that creates the gazebo simulation should be adjusted. The https://github.com/frankaemika/franka_ros repo now includes all the components to create a gazebo simulation, but loads the robot onto the /panda namespace. As a result, the current templates don't work anymore. We should apply the changes found in Fixes the gazebo simulation rickstaa/panda_moveit_config#40 to the templates in the MSA.
  EDIT(rhaschke): This is panda-specific. Hence, we shouldn't adapt the generic templates. We could though, consider providing a namespace argument to spawn the Gazebo robot in a namespace. However, this also relies on the (manual) adaptation of the .urdf file.
  EDIT: Outdated since the panda namespace was removed in franka_ros.
• The STOMP templates should be added to the MSA.
• The stomp_demo and chomp_demo files are not created by the MSA. Maybe we should add these files?
• The ompl-chomp_planning_pipeline.launch.xml should be added to the MSA (see https://ros-planning.github.io/moveit_tutorials/doc/chomp_planner/chomp_planner_tutorial.html#using-chomp-as-a-post-processor-for-ompl).
• The CHOMP algorithm contains several commented-out parameters that might be removed (see https://github.com/ros-planning/moveit/blob/d57721cf8503fe893347196cc1e1f9249ec57777/moveit_planners/chomp/chomp_motion_planner/include/chomp_motion_planner/chomp_parameters.h#L81-L88).
• Maybe we also want to add the remapping found in Remaps move_group 'joint_states' to 'joint_states_desired' rickstaa/panda_moveit_config#54 into the moveit_setup_assistant template.
  EDIT(rhaschke): joint_states_desired is a panda-specific thing, which will probably get removed there as well
• The CHOMP ridge_factor parameter should be changed to 0.0 since this is the default.
• The CHOMP enable_failure_recovery parameter should be changed to false since this is the default.
• The Gazebo-capable URDF generated by MSA doesn't show the robot in Gazebo, when using moveit_resources_panda_moveit_config. However, it seems to be there. It's just not visible?!

Other upstream problems that still exist

• I did not test the workings of the TrajOpt planner since it did not build on my system (see Trajopt with no dependency to tesseract moveit#1626 (comment)).

Migration guide

For future reference, the following steps were performed to release the Noetic branch:

Noetic migration guide

1. I created the initial panda robot configuration using the moveit_setup_assistant (see 8566b70). In this branch, tree/82378877879f7d40727819b1c3345eeb4308d98b was used. Similar to WIP: Generated using the latest features from MoveIt #74 I changed some posed to prevent self collisions.

2. I modified the panda.srdf file that is created by the moveit_setup_assistant such that we can programmatically enable the gripper (see f0c2bca). This needs to be done, since the moveit_setup_assistant currently doesn't propagate xacro arguments you supply to the urdf.xacro file (see this issue). We therefore need to manually add a way to enable or disable the gripper. This can be done by creating a panda.srdf.xacro file.

3. I replaced the sensor_3d.yaml with the example files in the perception_pipeline tutorial. Also edit the sensor_manager.launch.xml file to point to the right configuration files (see 2aaa01d).

4. I added the rviz_tutorial flag. While doing this, I made sure that I copied the moveit.rviz and empty.rviz files from the previous ROS version. Additionally, I added the moveit_visual_tools package as a dependency (see 1d55c98).

5. Similar to df0cbd8 I had to disable the collision checking between joint{5, 6} and joint8 since the new collision geometries that were added to https://github.com/frankaemika/franka_ros/releases/tag/0.8.0 are to coarse (see aa24fae). This should be fixed upstream by, for example, by improving the collision geometries or by giving users the ability to use meshes instead (Adds 'use_collision_mesh' arg to the robot description frankaemika/franka_ros#154).

6. I added the panda_control_moveit_rviz.launch which can be used to control the real robot (see 36d7c9f).

7. I added the TrajOpt files that were found in the melodic-devel branch to the repository ( see bc2bbc7 and 88fb278).

8. I added the STOMP files that were found in the melodic-devel branch to the repository ( see 133d524) .

9. I updated the join_limits.yaml file that was created by the MSA to enforce jerk limits. This was done by adding acceleration limits, since MoveIt does not yet support jerk limits (see 89d9b44).

10. I added the files of the LERP planner that is created in the creating-moveit-plugins tutorial (see 85756cd). These files were copied from the melodic-devel branch.

11. I added the demo_chomp.launch and ompl-chomp_planning_pipeline.launch.xml files needed by the chomp_planner_tutorial tutorial. I also updated the chomp config file to the one found in the melodic-devel branch (see 4c390ac and c2ccca2).

12. I added the demo_gazebo.launch launch file which spawns a simulated Panda robot in Gazebo (see c46c81c). This launch file uses the new franka_gazebo package that was introduced in franka_ros v0.8.1.

Files that were manually created

Config folder

• panda.srdf.xacro
• hand.xacro
• panda_arm.xacro
• lerp_planning.yaml
• stomp_planning.yaml
• trajopt_planning.yaml
• panda_controllers.yaml
• panda_gripper_controllers.yaml

launch

• demo_stomp.launch (Was not present in the melodic-devel branch).
• demo_chomp.launch (Not used in the moveit_tutorials).
• demo_lerp.launch (Used in the moveit_tutorials).
• lerp_planning_pipeline.launch.xml
• ompl-chomp_planning_pipeline.launch.xml
• panda_gripper_moveit_controller_manager.launch.xml
• run_benchmark_trajopt.launch
• stomp_planning_pipeline.launch.xml
• trajopt_planning_pipeline.launch.xml

[rickstaa]

If people want to help to finalize the Noetic release, please tag me and state which TODO you are working on. I will then update the TODO in the issue report above.

[rickstaa]

I just performed some tests on the simulated and real robot, and it looks like the code that remaps /joint_states to /joint_states_desired is no longer needed (see rickstaa#54):

https://github.com/ros-planning/panda_moveit_config/blob/78e783a1cd979b312f582748ce3f7426d16258a0/launch/move_group.launch#L78

https://github.com/ros-planning/panda_moveit_config/blob/78e783a1cd979b312f582748ce3f7426d16258a0/launch/demo.launch#L36

#9 (comment) states the following about why this code was used in the past:

This code was needed
the joint states published in /joint_states aren't suitable for planning trajectories with MoveIt, but still required for other uses, such as e.g. visualization of the current robot state in RViz.

@rhaschke, @fwalch Can you one of you validate that this code is redundant ? It looks that in franka v0.8.1 the joint_states and joint_states_desired topics both use the sensor_msgs/JointState.msg(see https://github.com/frankaemika/franka_ros/blob/da13eb1d6f5cc9600dbb22a60759016e715e8d27/franka_control/src/franka_state_controller.cpp#L179-L194). To my knowledge MoveIt can work with this message (see https://ros-planning.github.io/moveit_tutorials/doc/planning_scene_monitor/planning_scene_monitor_tutorial.html?highlight=jointstate#currentstatemonitor).

[fwalch]

@rickstaa I think this is still required. Both have the same data type, but the data comes from different sources (robot_state_.q vs robot_state_.q_d).

[rhaschke]

@fwalch, what's the semantic difference between these two sources / topics?
Usually, the robot should publish its current joint values on joint_states. What's the meaning of joint_states_desired?
If these are commanded (but not yet reached) joint values, this is just for info and neither MoveIt nor any other ROS node actually cares about them.

[v4hn]

Wow, that's a long list! Thank you a lot for working on noetic support and digging through all of that @rickstaa! 🏅

If these are commanded (but not yet reached) joint values, this is just for info and neither MoveIt nor any other ROS node actually cares about them.

With more and more online controller support it can make a lot of sense to replace the actual with the desired state in tight loops. But then there needs to be a mechanism in place that will abort if the actual state moves to far away from desired.

Also it can be a way to work around unstable controllers, e.g., make MoveIt assume joint values of 0.5 when the controller jitters around +-.02.

Both case should not be relevant for the panda here though, so I agree that MoveIt should not silently get the (semantically) wrong topic!

[rickstaa]

@fwalch I think @rhaschke is right. If we look at the primitive in the libfranka package, they are equal (see https://github.com/frankaemika/libfranka/blob/f1f46fb008a37eb0d1dba00c971ff7e5a7bfbfd3/include/franka/robot_state.h#L212-L222). To check if we still need to remap the joint_states topic we have to consider three use cases: simulation, visualization and the real robot.

Simulation

In the simulation, both robot_state_.q and robot_state_.q_d are populated using joint->position (see https://github.com/frankaemika/franka_ros/blob/da13eb1d6f5cc9600dbb22a60759016e715e8d27/franka_gazebo/src/franka_hw_sim.cpp#L459-L467).

Rviz visualization

In the RVIZ visualization (i.e. demo.launch) the /joint_states are created by a fake joint_state_publisher. Here, the desired_joint_states and thus the following code is to my knowledge not needed:

https://github.com/ros-planning/panda_moveit_config/blob/78e783a1cd979b312f582748ce3f7426d16258a0/launch/demo.launch#L36

Real robot

On the real robot (i.e. panda_control_moveit_rviz.launch) the /joint_states_desired topic is created by a joint_state_publisher (see https://github.com/frankaemika/franka_ros/blob/da13eb1d6f5cc9600dbb22a60759016e715e8d27/franka_control/launch/franka_control.launch#L25-L30). This joint_state_publisher uses the franka_state_controller/joint_states_desired topic for creating the /joint_states_desired topic. I didn't dive deep enough into the code, but I think the franka_state_controller receives the joint_states_desired directly from the FCI through the FrankaStateHandle (see https://github.com/frankaemika/franka_ros/blob/da13eb1d6f5cc9600dbb22a60759016e715e8d27/franka_hw/include/franka_hw/franka_state_interface.h#L52-L53). Based on that, I think what @v4hn explained is right.

I therefore think MoveIt should subscribe to the real robot states (i.e., joint_states) and not the desired states (i.e., joint_states_desired). I tested the panda_control_moveit_rviz.launch file, without the remapping, on the real robot and have not experienced any issues.

[rhaschke]

@fwalch and @rickstaa could we have a phone/video conference with responsible people at Franka to discuss the list of open issues in #89 (comment)? @fwalch, I'm contacting you as you appeared in most github PRs / issues. Please feel free to dispatch this request to another person if needed. I prepared a doodle to negotiate a time slot.

[rickstaa]

@rhaschke Of course, I'm happy to join the meeting to provide details about the upstream pull requests I created. In the meantime, please allow me to quickly describe all the upstream pull requests to make sure everybody has a clear picture.

Upstream pull requests related to the panda_moveit_config package

Here again, I will make a distinction between the real/visualized and simulated robot. From all the pull requests described below, franka_ros#181 is the most important. The other pull request will improve the user experience.

Visualized or real robot

The noetic-devel branch is ready to be used with both the RVIZ simulation and the real robot. There are, however, several problems with the way @frankaemika defined the collision geometries:

• The current finger collision geometries are added to the hand link (see hand.xacro#L12-L54). MoveIt, however expects a collision geometry to be present for all the links and therefore throws a warning. I created [franka_ros#150]](Improves hand/finger collision geometries frankaemika/franka_ros#150), franka_ros#151 and franka_ros#152 for addressing this issue. I choose franka_ros#151 since it is closest to the current code provided by @frankaemika.
• As pointed out by @tylerjw the collision geometries provided by Franka are very coarse. As, a result we had to apply aa24fae to allow for the configurations used in the moveit_tutorials. As explained by @gollth in franka_ros/pull/126#issuecomment-900275270. These new more coarse collision geometries were added since these are the collision geometries used by the FCI. I created franka_ros#154 so we can drop aa24fae. By providing users with a use_collision_mesh argument, they can use the smoother collision meshes with the tutorials while using coarse geometries on the real robot. This, however, might not be the best solution.

Simulated robot

• The current FrankaHWSim interface does not contain any of the motion generators that are present in the FCI. As a result, the position_joint_trajectory_controller that was is used in the melodic-devel branch can not be used with the simulated robot. I created franka_ros#181 to allow us to use the position_joint_trajectory_controller in simulation. I chose the position_joint_trajectory_controller controller since the effort joint trajectory controller requires PID gains to be tuned when working on the real robot. The PID gains used for the motion generators in franka_ros#181 are okay, but not perfect. If @frankaemika improves these PID gains and merged franka_ros#181 the noetic-devel and melodic-devel (see Integrate with Gazebo #68) branches work with the franka_gazebo simulation.
• I noticed that the FrankaHWSim interface does not allow MoveIt to set the desired gripper width. The current version only allows the gripper to close and open. I created franka_ros/pull/173 to address this issue. While doing so, the Franka team and I discovered some instabilities in the Franka simulation that prevent the gripper from working properly (see the pull request for more info).

Other pull requests

Apart from the pull requests above, I created franka_ros#177 to address an issue with the simulated gravity compensation. This pull request is related to my research but should not be needed for the noetic-devel of the panda_moveit_config package.

[rickstaa]

@rhaschke Quick question. Based on the discussion above, I think we can drop the following TODO:

We have to check if remaping 'joint_states' to 'joint_states_desired' in the move_group.launch file is still needed (see Remaps move_group 'joint_states' to 'joint_states_desired' rickstaa#54).

Or do you first want to confirm with the @frankaemika team how the joint_states_desired works in the new version?

[rhaschke]

I strongly believe that we can remove joint_states_desired. But, indeed, it would be great to get some feedback from @frankaemika first.

[rickstaa]

@rhaschke I will keep it onto our to-do list till we talked to Franka.

[rhaschke]

@rickstaa, I have worked myself through your list of TODOs and would like to discuss them with you.
Do you have time for a chat? Please send me your contacts (email and/or phone) to rhaschke@techfak.uni-bielefeld.de. Thanks.

[rickstaa]

@rhaschke That's great! I send you a mail.

[gollth]

@fwalch and @rickstaa could we have a phone/video conference with responsible people at Franka to discuss the list of open issues in #89 (comment)? @fwalch, I'm contacting you as you appeared in most github PRs / issues. Please feel free to dispatch this request to another person if needed. I prepared a doodle to negotiate a time slot.

Hello @rhaschke,

thanks for the Doodle, definitively makes sense to discuss these issues personally. We entered slots in your Doodle. If we don't find a common slot, feel free to propose more times.

Looking forward to it.

[v4hn]

Please add a brief summary of this meeting here later on. A number of issues mentioned here touch much more of MoveIt than just the panda configuration.

[rhaschke]

@v4hn, the results of our phone-conf meeting with Franka are summarized here.
@rickstaa, I addressed various issues of your list in moveit/moveit#2932, moveit/moveit#2945, moveit/moveit#2946.
I'm tempted to recreate the noetic-devel branch starting from these latest MSA templates.

[rickstaa]

Closed because this has been replaced by #96.

The Gazebo-capable URDF generated by MSA doesn't show the robot in Gazebo, when using moveit_resources_panda_moveit_config. However, it seems to be there. It's just not visible?!

Has been addressed in https://github.com/rickstaa/moveit/tree/add_MSA_write_gazebo_urdf_feature. The MSA now checks whether the specified urdf is Gazebo compatible and otherwise saves it into the generated <ROBOT>_moveit_config. I will create a pull request after I performed some last tests and add the last warning popup (probably on Sunday). This popup will come up when a supplied urdf is invalid and lets people know about the file generation behaviour and points to http://gazebosim.org/tutorials?tut=inertia.

@rhaschke Can you double-check to see if there are still todos missing from #69. I will also address moveit/moveit#2955 on Sun.

[rhaschke]

The Gazebo-capable URDF generated by MSA doesn't show the robot in Gazebo, when using moveit_resources_panda_moveit_config. However, it seems to be there. It's just not visible?!

Has been addressed in https://github.com/rickstaa/moveit/tree/add_MSA_write_gazebo_urdf_feature. The MSA now checks whether the specified urdf is Gazebo compatible and otherwise saves it into the generated <ROBOT>_moveit_config.

I think it is reasonable to provide an option to save the generated, Gazebo-compatible URDF. However, I suggest providing a save button in the corresponding widget, as the .urdf file will be saved in an external (non moveit-config) package. All other files listed in the config-files widget, are related to the moveit-config package only.

However, my problem wasn't that I couldn't save the file. Of course, I did that.
Nevertheless, Gazebo doesn't visualize the robot for me (although it is loaded and simulated). I guess, some material properties are not correctly configured for Gazebo:

[rickstaa]

Strange, I remember that the urdf worked for me when using the steps in the tutorials moveit_setup_assistant. I will investigate this weekend.

The current implementation is as follows:

• If the simulation widget is not used, no gazebo_panda.urdf will be added to the moveit_config folder. The file will be shown but is disabled. The demo launch file is added but uses the original urdf. My plan, however, was only to add the gazebo launch files when the simulation widget is used.
• If the simulation widget is used and the provide urdf is Gazebo compatible, no gazebo_panda.urdf will be added to the moveit_config folder. The file will also be disabled in the file overview.
• if the widget is used by provided urdf is not Gazebo compatible, the new gazebo urdf is added to the moveit_config, and the gazebo launch files will use this urdf while the other launch files use the original urdf. My plan was here to show a warning.

I can, however, change it in any way we like. I will create a draft pull request so we can discuss it there. My main goal was to fix the gazebo demo launch files by providing a have to automatically add the gazebo urdf when the provided urdf is not Gazebo compatible.

[rhaschke]

As I said, I generally like and appreciate your proposal. We can use the generated gazebo-compatible file in two ways:

• Overwrite the original file in the robot's description package. This option should be offered in the simulation widget.
• Alternatively, create the corresponding file as part of the moveit_config package. In that case, it should be listed in the config file widget.

demo_gazebo.launch should use one or the other file. Both options are mutually exclusive.

[rickstaa]

@rhaschke I took your suggestions into account. You can find the tested version of my proposal at moveit/moveit#2960.