Handle all grasp candidates and use Stage's timeout property #2
Conversation
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
This stage uses action messages to communicate with an action server external to MTC. The action server can use machine learning pipelines to sample grasps given a point cloud/depth image. This removes complex dependencies from MTC. The stage sends a request for grasps. If a time out is reached or no grasps are found then planning fails. This stage uses a template parameter which is the action message and inherits from an action base class. This allows other stages to inherit these properties and use action messages.
The action base class can only be used with the action msg GraspPlanning.action from grasping_msgs.
The grasp detection flag is an atomic bool. The scope of the grasp candidate's mutex has been moved.
bostoncleek
force-pushed
the
pr-deep_grasp_stage
branch
from
1667ea7 to
7c47532
Compare
Sign up for free
to join this conversation on GitHub.
Already have an account?
Sign in to comment
Add this suggestion to a batch that can be applied as a single commit.
This suggestion is invalid because no changes were made to the code.
Suggestions cannot be applied while the pull request is closed.
Suggestions cannot be applied while viewing a subset of changes.
Only one suggestion per line can be applied in a batch.
Add this suggestion to a batch that can be applied as a single commit.
Applying suggestions on deleted lines is not supported.
You must change the existing code in this line in order to create a valid suggestion.
Outdated suggestions cannot be applied.
This suggestion has been applied or marked resolved.
Suggestions cannot be applied from pending reviews.
Suggestions cannot be applied on multi-line comments.
Suggestions cannot be applied while the pull request is queued to merge.
Suggestion cannot be applied right now. Please check back later.
1- Replace
goal_timeoutmember variable with Stage'stimeoutproperty2- Make
grasp_candidates_a queue of vector of grasp candidates to make sure to handle all feedback message with thread safety