Missing moveit_task_constructor_msgs/SampleGraspPosesAction.h

[marcpujol-leitat]

I am trying to follow the moveit tutorials to install Moveit Deep Grasps but compiler fails saying this header is missing.

Is this intended and I need to replace them?

Thank you!

[rhaschke]

Unfortunately, we didn't yet merge #196, which is the basis for the mentioned tutorial. Also, in #196 (comment) it was suggested to use an existing action instead of a new one. This essentially replaced SampleGraspPosesAction with grasping_msgs::GraspPlanningAction. So here is what I suggest:

1. Merge New grasp pose generator stage #196 into your MTC repo
2. Update the demo to use grasping_msgs::GraspPlanningAction
3. Fix all remaining issues.
4. File a PR against https://github.com/PickNikRobotics/deep_grasp_demo and/or https://ros-planning.github.io/moveit_tutorials to incorporate all required changes into the demo/tutorial.

[qyp-robot]

Hello, when I was reproducing the GPD algorithm, I followed the Deep Grasp Demo operation, but I encountered a missing header file error when compiling, how can I solve it? Hope you can help me! Thank you very much!
Looking forward to your reply, thank you!
Please be more detailed, thank you

[rhaschke]

@qyp-robot: Didn't my suggestion point you in the right direction? If not, please provide a detailed error description (error messages, your environment, etc.)

[qyp-robot]

Hello, do I modify it like this here, just the following two links：
1.a298899
2.19fb72c

[qyp-robot]

Hello, when I make changes according to this, it can be compiled normally;
But after I ran roslaunch moveit_task_constructor_gpd gpd_demo.launch, moveit did not capture, and the following error was reported on the terminal:

[ INFO] [1626148048.631361699]: Generate grasp goal now active
runtime(computeNormals): 0.3677
camera: 0, #indices: 3998, #normals: 3998
Calculated 3998 surface normals in 0.3699s (mode: OpenMP).
Reversing direction of normals that do not point to at least one camera ...
reversed 0 normals
runtime (reverse normals): 4.5744e-05
Estimating local reference frames ...
Estimated 50 frames in 0.0006s.
Finding hand poses ...
Found 50 hand sets in 0.32s
====> HAND SEARCH TIME: 0.321938
Generated 50 hand sets.
Filtering grasps outside of workspace ...
Number of grasp candidates within workspace and gripper width: 400
Number of grasp candidates with correct approach direction: 400
neighborhoods search time: 0.0382
Created 400 images in 1.1584s
[grasp_cloud_detection-2] process has died [pid 410550, exit code -11, cmd /home/qyp/ws_grasp/devel/lib/moveit_task_constructor_gpd/grasp_cloud_detection __name:=grasp_cloud_detection __log:=/home/qyp/.ros/log/feb1051a-e38c-11eb-a2be-5378e1583e88/grasp_cloud_detection-2.log].
log file: /home/qyp/.ros/log/feb1051a-e38c-11eb-a2be-5378e1583e88/grasp_cloud_detection-2*.log

[rhaschke]

@bostoncleek, can you help on this issue?

[qyp-robot]

@bostoncleek，你能帮助解决这个问题吗？
First of all, thank you very much for your reply, I still got the following error when I tested:
[grasp_cloud_detection-2] process has died [pid 411886, exit code -11, cmd /home/qyp/ws_grasp/devel/lib/moveit_task_constructor_gpd/grasp_cloud_detection __name:=grasp_cloud_detection __log:=/home/qyp/.ros/log/feb1051a -e38c-11eb-a2be-5378e1583e88/grasp_cloud_detection-2.log].
log file: /home/qyp/.ros/log/feb1051a-e38c-11eb-a2be-5378e1583e88/grasp_cloud_detection-2*.log

[marcpujol-leitat]

Thank you @rhaschke for the fast response!

I have already merged the PR into my repo and now I am trying to modify the deep_grasp_demo package so it works with the changes.

I am having some troubles with that:

• Inside moveit_task_constructor_(gpd and dexnet) there are header files named grasp_detection.h which create a SimpleActionServer. I understand I need to modify those so they use the GraspPlanningAction. However, GraspPlanningFeedback and Result are missing members that the .cpp is using.
• In the commits of the PR I can see @bostoncleek has also created a class named GraspProvider. Should I be using that inside the deep_pick_and_place.cpp demo, for example in the Generate Grasp Pose stage.

Thanks again!

[rhaschke]

I'm afraid I need to forward your questions to @bostoncleek. He implemented all this code originally.

[qyp-robot]

Thank you very much for your reply. I am also working on it. If you have the latest progress, please let me know in time. Thank you very much!

…

------------------ 原始邮件 ------------------ 发件人: "ros-planning/moveit_task_constructor" ***@***.***>; 发送时间: 2021年7月13日(星期二) 下午5:53 ***@***.***>; ***@***.******@***.***>; 主题: Re: [ros-planning/moveit_task_constructor] Missing moveit_task_constructor_msgs/SampleGraspPosesAction.h (#281) I'm afraid I need to forward your questions to @bostoncleek. He implemented all this code originally. — You are receiving this because you were mentioned. Reply to this email directly, view it on GitHub, or unsubscribe.

[bostoncleek]

You should use GraspProvider in both moveit_task_constructor_(gpd and dexnet) packages.

You will also need to update the tutorial and demo to use grasping_msgs::GraspPlanningAction. If GraspPlanningFeedback and Result are missing make sure you include the grasping_msgs::GraspPlanningAction action message in you code. Check out the action lib tutorials for help.

If you have more questions please let me know. I am trying to get permission from my employer to update the demo and tutorial. But if you finish the modifications rhaschke made above please submit a PR and I will review it.

@marcpujol-leitat

[marcpujol-leitat]

Hi,

I have created the PR so you can see the changes I've made.

Thank you!!

[qyp-robot]

Hi,
I have changed the New grasp pose generator stage as per here: a298899
This problem has been solved: header is missing

Second, I make changes according to here, Rename stage to Grasp Provider:
19fb72c
But there is a problem when compiling, what should I do, I look forward to your help!

@marcpujol-leitat
@bostoncleek.

[qyp-robot]

Hello @bostoncleek,@marcpujol-leitat,@rhaschke
When I change according to here, Rename stage to Grasp Provider:
19fb72c81796303336d399905576a7de69602fc0；

Do I also need to update the tutorial and demo to use grasping_msgs::GraspPlanningAction?
Then compile it?
Thank you all!

[marcpujol-leitat]

Hi @qyp-robot,

Now that you have solved the header problems, I think you have to modify the deep_grasp_demo so it works with the changes made in moveit_task_constructor according to the links you have sent.