[moveit] Waypoint/Trajectory controller for base

[fmessmer]

This issue is a reminder pointing to code snippets already implemented but not yet yet made available for general usage:

@ipa-bfb, accordiing to @ipa-mdl you implemented a moveit-controller/plugin to be able to use moveit for moving the base of our robots - in particular to execute plans for planning groups involving both base and arm.

Could you point me to this code? Can we add this somewhere as it might be useful in other scenarios...

@fmessmer FYI

[bbrito]

Well I have created the plugin and it allows moveit to make all body planning. However the execution is still not good. I'm working in a new controller which is able to execute this all body plans in a coordinated way. If you want we can discuss more about it personally and I can show you what I have.

[fmessmer]

In general, I'd say it is better to have code available under ipa320/indigo_dev branch - even though it's under development (or currently not used anymore) - rather than software being hidden from others on some personal fork/branch.
If no one knows that some capability is already available, that one would start from scratch rather than improve existing code!

Thus, I'd suggest to commit your current version and create an issue describing the current deficiencies

[fmessmer]

As discussed, it would be great to commit your plugin - even if it's WIP - to a new package cob_moveit_extensions...I'd be very interested to have a look and try it out...

[bbrito]

Don't worry ;) I will do it! Just give me time ;)

[MaChristoph]

@ipa-bfb started work here...
bbrito/moveit@6376538#diff-02a1b69bab90e54260c3c5b051116a80

https://github.com/ipa-bfb/moveit/tree/planar_joint_plugin

[fmessmer]

Concept could be:
create a new package e.g. cob_base_waypoint_controller, which provides a FollowJointTrajectory ActionServer (MoveIt will connect to this one) and based on the current base position (subscribe to odometry) calculate the distance to the next waypoint from the ActionGoal. then based on time remaining to reach it, calculate a geometry_msgs/Twist and publish it to the base_controller.