When the MoveIt trajectory planner fails to find a valid path, it
returns an empty list of path points. Our mover.py script assumes there
is always something in the list, so we get an exception when there is
not (which breaks our listener node and mandates a re-launch).
Added out of bounds checks and moved the response population to the
bottom to ensure we only send a path back when it is complete, and
otherwise send an empty response (for which the srv will print an adequate
error to console).
Tested by running DemoScene with out of bounds locations for target
placement.
The DemoScripts.asmdef was a bit of experimental cruft that snuck in via
my Yamato changes. This causes Demo.cs to compile as an Editor script,
which means it can no longer be instantiated in the scene hierarchy
(this breaks the demo). Removing the asmdef puts things back to normal.
Tested by running the demo.
* Adding testing boilerplate
* Adding tests to run after message generation
* Tweaks to ensure run works in Bokken image
* Enabling audio by default, but disabling it in yamato config
* Merging dev branch into main (#78)
* Reverting params.yaml and updating code in server_endpoint.md
* TcpServer class was renamed
* convert all files with dos2unix (#76)
* Minor tutorial tweaks, update version numbers
Co-authored-by: Devin Miller <devin.miller@unity3d.com>
Co-authored-by: peifeng-unity <56408141+peifeng-unity@users.noreply.github.com>
* Updating instructions for URDF repository (#71)
* 1. Adding images for URDF tutorial 2. Adding instructions highlighting Disable Collison tag
* Adding link to example of disable collision tag in the niryo_one URDF file
Co-authored-by: Devin Miller <devin.miller@unity3d.com>
Co-authored-by: peifeng-unity <56408141+peifeng-unity@users.noreply.github.com>
Co-authored-by: vidurvij-Unity <60901103+vidurvij-Unity@users.noreply.github.com>
* AIRO-356: Tutorial Updates (#88)
* Update tutorial to Robotics menu option, ROSConnect instructions
* PR feedback: IP troubleshooting, gripper value swap
* Reimported niryo for completed scene
* PR feedback: bring TCP-connector up to dev
* fix for AIRO-353: Correct the gripper mesh file names in Niryo URDF
* fix for AIRO-354: Fix the typo for disable_collision elements in the Niryo URDF.
AIRO-315 Updating to new server_endpoint style
ROS-TCP-Endpoint got a pep-8 makeover. Updating the server_endpoint to match the new interface.
Tested by running through part2 of the pick and place tutorial.
Devin Miller
LaurieCheers
GitHub