aprotyas / trac_ik Goto Github PK

Just wanted to say thank you. You saved me 1 day of work today :)

I wonder if you would accept pull requests. I would like to remove the math3d.h and use Eigen instead

From #1, the primitive directives are:

• Write the plugin for moveit2.
• Update moveit documentation about the trac_ik library and about writing said plugins.

I haven't yet sorted out the logistics, but a Github actions based CI pipeline would probably be the least friction path for now.

All packages are missing tests, but trac_ik_lib hurts the most from their absence. The goal should be to write some unit tests for the trac_ik::ik_solver class, at minimum.

This ticket is a bit complicated. There is definite value in it, but I'm not sure how to best approach it.

Obviously, this fork entailed a lot of changes to the original repository.

All such changes should be documented appropriately in package-specific READMEs, at the minimum.

Partially supersedes #12. Please check #8 and #12 for the reasoning behind this PR - and other, more targeted, CI PRs in the future.

This is a meta-ticket that I'll use to track progress for multiple smaller items. Notably:

• trac_ik_lib: (#2)
  • Migrate parameters business to be rclcpp compliant.
    • ⚠️API break⚠️: As a fallout of this directive, I've changed a TracIK constructor to accept a std::string of the URDF XML robot description file, rather than a std::string of the parameter housing the robot description XML. This was necessary because parameters are not global in ROS 2, and because I didn't want to publish the XML on a robot_description topic (although that's how it's done in robot_state_publisher).
  • Convert roscpp logging macros to rclcpp logging macros.
  • Move from boost::posix_time::ptime to std::chrono::time_point.
    • This is not exactly needed, but I'd like to remove superfluous boost dependencies.
• trac_ik_kinematics_plugin: (#9)
  • Write the plugin for moveit2.
  • Update moveit documentation about the trac_ik library and about writing said plugins.
• trac_ik_python: (#5)
  • Move from rospy to rclpy.
  • Use required ament_cmake_python functions to install the package.
  • Remove boost dependencies.
  • Move from tf/tf_conversions to tf2/tf2_kdl.
  • Settle on the trac_ik Python class API. What to do about the URDF string? Ideally it should mimic trac_ik_lib.
  • Update tests to be ROS 2 compliant.
• trac_ik_examples: (#2)
  • Convert ROS 1 examples to ROS 2 equivalents.
  • Migrate launch file to be ROS 2 compliant.
  • Import a pr2.urdf file into the package launch tree.
    • This can be achieved by manually calling xacro on the pr2.urdf.xacro from the pr2_description package.
    • This is necessary because pr2_common is not published as a ROS 2 package.
  • Migrate parameters business to be rclcpp compliant.
  • Move from boost::posix_time::ptime to std::chrono::time_point.
    • This is not exactly needed, but I'd like to remove superfluous boost dependencies.
• Miscellaneous:
  • #10
  • #11
  • #7
  • Move all packages from catkin to ament.
  • Change name to trac_ik2?
  • #8
    • #18
    • #20
  • Remove previous release CHANGELOGs.
  • #13
  • Remove previous tags.
  • Migrate from math3d.h to Eigen for matrix math. #26 (comment)
• Community (?):
  • #21
  • #22
  • #23

ament_lint_common should suffice. It will be useful to figure out if some files should not be linted.