could you show some example how to convert tesseract plan result to native program such as ur or kuka using robodk_post_processors

[dbdxnuliba]

@Levi-Armstrong,could you show some example how to convert tesseract plan result to native program such as ur or kuka using robodk_post_processors,thanks a lot， just like that you has mentioned in the web link:
#117

[Levi-Armstrong]

@marip8 and @DavidMerzJr Is this done anywhere public, like the sanding workshop repository?

[DavidMerzJr]

There are a few things I can think of here.

Using robodk, we have an example of converting to a robot file available on an old (and unfortunately untagged, @marip we should fix that) version of the ROS-I Scan-N-Plan Workshop. This is great if you actually need to control i/o, or if you are using a robot brand whose ROS driver is not well-behaved. Here, we needed to control i/o on our Motoman.

https://github.com/ros-industrial-consortium/scan_n_plan_workshop/tree/4c4b09ffda4571d522f3b0a3612a1627864c6835

However, if a UR is what you're after and you don't need to control i/o mid-movement, you may not need to convert to a native program. Their ROS driver is pretty great. Converting to a JointTrajectory and then publishing that to a topic, or calling a FollowJointTrajectoryAction, will automatically proceed through the path without converting to a native program. That's what we did with a different motoman in a more recent (and also untagged) version of the ROS-I Scan-N-Plan Workshop. We actually convert back to the ROS type before leaving the planning server.

https://github.com/ros-industrial-consortium/scan_n_plan_workshop/blob/e6cd3220e5064f4e2e654731ce4a2799c8d8959b/snp_motion_planning/src/planning_server.cpp

Hopefully one of those helps!

[dbdxnuliba]

Using robodk, we have an example of converting to a robot file available on an old (and unfortunately untagged, @marip we should fix that) version of the ROS-I Scan-N-Plan Workshop. This is great if you actually need to control i/o, or if you are using a robot brand whose ROS driver is not well-behaved. Here, we needed to control i/o on our Motoman.

I See the usage robodk related work,
https://github.com/ros-industrial-consortium/scan_n_plan_workshop/blob/4c4b09ffda4571d522f3b0a3612a1627864c6835/ros2_ws/src/snp_motion_execution/ros_to_moto/ros_to_moto.py

in the line15:
sys.path.append(os.path.abspath("/home/larmstrong/catkin_ws/roscon_21/roscon2021/ros2_ws/src/robodk_postprocessors/")

but i can't find the folder ros2_ws/src/robodk_postprocessors
the files list at ros2_ws is as follows:

and another question ,does it work on ROS2 ,I'm using ROS1 noetic

[dbdxnuliba]

and in the second example ,you convert tesseract plan result into ros msg :
trajectory_msgs::JointTrajectory
res->motion_plan = tesseract_rosutils::toMsg(tcp_velocity_scaled_jt, env_->getState());
with api provide by tesseract_ros :
trajectory_msgs::JointTrajectory toMsg(const tesseract_common::JointTrajectory& joint_trajectory,
const tesseract_scene_graph::SceneState& initial_state) ;
but then what，how to convert trajectory_msgs::JointTrajectory into FollowJointTrajectoryAction , I didn't see it in the link
https://github.com/ros-industrial-consortium/scan_n_plan_workshop/blob/e6cd3220e5064f4e2e654731ce4a2799c8d8959b/snp_motion_planning/src/planning_server.cpp
,could you please show some details about that ,thanks

[Levi-Armstrong]

I recommend taking a look at the FollowJointTrajectoryGoal message which takes a trajectory_msgs::JointTrajectory. Also there are several examples on how to use the FollowJointTrajectoryAction like this one on the wiki.ros.org.