Add Pick and Place Harmonic launchers and environment #633
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Files added: - Launchers/pick_place_harmonic.launch.py - Gazebo Harmonic launcher - Launchers/pick_place_harmonic_rviz.launch.py - MoveIt + RViz launcher - scripts/.env - GZ_VERSION, GZ_SIM_SYSTEM_PLUGIN_PATH, GZ_SIM_RESOURCE_PATH - database/universes.sql - Universe and world entries (ID 55) - CustomRobots/pick_place_harmonic/ - Robot URDFs and models
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hi @aleon2020 |
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Code revised. Take a look at what I mentioned in JdeRobot/RoboticsAcademy#3389 (comment). |
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Please remove changes from .scripts/env. This file cannot have anything related to Gazebo Harmonic, this is defined inside the RAM.
Please remove all submodules from CustomRobots, we do not support them
Also define the entries in the database in order, for ex. 53-54-55
I understand the concern. However, after extensive debugging, I found that Gazebo Harmonic requires these environment variables to be set for correct behavior. Since the RAM repository does not currently define an environment file, I assumed it would inherit them from .scripts/env, which is why I added the entries there. At the moment, there is no alternative location in RAM to configure these variables, and without them Gazebo Harmonic fails to work correctly. From my testing, adding these environment variables does not introduce crashes or side effects. If you prefer, I can move these definitions into the RAM repository once a proper configuration file or mechanism is defined there. Until then, keeping them here ensures Gazebo Harmonic compatibility. |
…:- Launchers/pick_place_harmonic.launch.py - Gazebo Harmonic world launcher- Launchers/pick_place_harmonic_rviz.launch.py - MoveIt + RViz launcher- database/universes.sql - Universe (ID 54) and world (ID 54) entries- CustomRobots/pick_place_harmonic/
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We have multiple Gazebo Harmonic exercises that use those variables and there has been no issue. We define them in the RAM and also in the universe launcher. Please take a look at that, because defining it in the .env file will probably break all other universes |
…b.com/anishk85/RoboticsInfrastructure into feature/pick-place-harmonic-launchers
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…:- Launchers/pick_place_harmonic.launch.py - Gazebo Harmonic world launcher- Launchers/pick_place_harmonic_rviz.launch.py - MoveIt + RViz launcher- database/universes.sql - Universe (ID 54) and world (ID 54) entries- CustomRobots/pick_place_harmonic/
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There must be no changes in this file
| pkg_share_dir = get_package_share_directory("ur5_gripper_description") | ||
| robotiq_pkg_share_dir = get_package_share_directory("robotiq_description") | ||
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There are conflicts here from a rebase. Please fix them
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Please fix the issues pointed in the review, it has been more than 2 weeks and they have not been adressed. If not I will close this Pull Request and you will have to open a new one |
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Yeah I am on it i am actually very busy now a days as we have solved many problems since 2 weeks Like screen black issues and conflicts and improvements in hal api. I will be doing that just give me some time as it's a quite long project. |
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Yeah I am on it i am actually very busy now a days as we have solved many problems since 2 weeks Like screen black issues and conflicts and improvements in hal api. I will be doing that just give me some time as it's a quite long project. |
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None of those are the issues I stated in the PR review |
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Yeah will do that in upcoming days please don't close as I have invested a lot of time to this now which I don't want to waste |
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