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todo.md

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general

  • update author/maintainer (email + order)
  • add README.md to each pkg to match description of package.xml
  • update dependencies (package.xml + header files) → build tool, libraries, ROS packages + versions
  • update dependencies/versions in README (PCL 1.7, OpenCV 4 ..)
  • update .gitignore
  • format exceptions (msg in function() with std::runtime_error, std::invalid_argument etc.)
  • refactor to ROS_ASSERT_MSG()

ros_utils

  • ros_utils.h
    • single header
    • math.h
    • std.h
    • export_vars.h
  • geometry_msgs.h
    • make_pose()
    • read_pose()
  • gazebo.h
    • simulation
      • set_simulation()
    • models and states
    • sensors
      • projector
      • camera
      • camera_stereo
      • kinect
  • moveit.h
    • make_mesh_cobj()
    • get_gazebo_cobjs()
    • move_base() → set_floating_jnt_pose()
    • make get_gazebo_cobjs() generic with other shapes (e.g. gazebo_ros_moveit_planning_scene plugin)
  • eigen.h
    • Eigen::make_tf(xyz, rpy)
    • Eigen::make_tf(Pose)
    • Eigen::make_tf(xyz, axis, angle)
    • export_csv()
  • pcl.h
    • pcl::load_cloud(path)
    • pcl::show_cloud() or pcl::plot_cloud()

ur5_ros

ur5_ros

  • refactor all namespaces to ur5::
  • fix all header names (ur5_description/ur5.h → ur5_description/ur5_description.h)
  • include ur5_x everywhere properly (headers, package, cmake) ~

ur5_description

  • has_ee()
  • change to ur5::

ur5_moveit_config

  • run setup assistant
  • add world_offset virtual joint
  • use kinematic chain (instead of joints)
  • add default.launch
  • add ur5_arm as parent to ur5_ee end-effector group
  • add tcp link for end-effector (for moveit)
  • add TrajOpt
  • remove floating joint from planning group (maybe not possible)
  • documentation (launch file, floating joint, planning etc.)

ur5_planner

  • re-define interface(s)
  • moveit.h
    • refactor to new ur5:: interface (use ur5::LINKS etc.)
    • make update_planning_scene() dynamic wrt. gripper/EE
    • start_scene_publisher()
    • proper terminate()
    • move_base() using set_floating_jnt_pose() w/ recursive mutex
    • attach_object_to_ee()
    • plan()
    • plan_to_jnt_traj()
    • change to JointTrajectoryPoint
    • add dynamic addition/removal of attached collision objects from Gazebo
    • set_planner_config()
    • get_mutexed_planning_scene()
    • examples
    • add more planners (SBL, EST)
  • reachability.h
    • refactor to new ur5:: interface
    • ReachabilityData
    • grasp orientation lambdas (GRASP_SIDE_AT_TCP, GRASP_TOP_AT_TCP)
    • examples

ur5_dynamics

  • refactor to namespace (from static class)
  • change to ur5:: → update dependents

ur5_controllers

  • change to ur5::
  • command() (with Eigen::Vector6d)
  • command_setpoint()
  • command_traj()
  • command_home()
  • change to trajectory_msgs → JointTrajectoryPoint → remove ur5_msgs
  • cartesian controller (bridge) → remove qp_oases?
  • examples

ur5_gazebo

  • change to ur5::
  • get_robot_state() → get_state()
  • get_gripper_state() → get_ee_state()
  • get_ee_given_pose()
  • get_ee_given_pose_at_tcp()
  • add spawn_urdf arg in .launch
  • add more pre-defined transforms e.g w_T_b()
  • examples

wsg50

  • get_state()

rovi_system

rovi_system

  • .launch file
  • meta-data in rovi_system/rovi_system.h (e.g. table size)
  • fix .setup.bash file
  • interface, e.g. rovi_system::get_camera_imgs() + interface node for python (add to .launch file)
  • pick-and-place examples (integrated + hard coded)
  • workcell
    • add obstacles
    • add graspable objects
    • rovi_system::spawn_obstacles()
  • expriments framework
    • file structure
    • documentation
    • rovi_system.m
    • export_fig
    • template w/ examples
    • get_experiment_dir()
    • make_timestamped_data_dir()
    • make_custom_data_dir()
    • make_timestamped_data_dirs()
    • rovi_system.py (same interface as rovi_system.h)
  • experiments:
    • template
    • reachability + object pos in heatmap
    • point-to-point interpolation (lin + par)
    • planning (moveit → EST vs. SBL)
    • pick and place (pick only)
    • pick and place (full integration)
    • pose estimation dense
    • pose estimation sparse

rovi_planner

  • define interface(s)
  • traj_lin() (cartesian)
  • traj_par() (cartesian)
  • export_x() methods
  • PlanningData
  • joint space interpolation (trajectory_msgs, template methods e.g. traj_lin<TrajT>()?)

rovi_vision

  • define interface
  • add pkgs
  • define location for DNNTemplateMatching templates
  • integrate Daniel's code → refactor to interface
  • manage dependencies
  • use Eigen::Isometry3d
  • use ros_utils
  • examples

rovi_models

  • rovi_models pkg
  • models + world (proper export)
  • add .pcd files
  • change default sensor topics (camera, projector etc.) from rbrovi/camera → camera