Post-migration todo

[cmower]

@stoutheo I need a list of scripts, launch files, and anything else you want to be migrated.

I will work out where to put them but may need your assistance to re-work config files, and topics.

[stoutheo]

@cmower sounds good.

We can start with the following and then we can keep on adding more.

• scripts/hw_interface/vicon_tf_offset.py, launch/vicon_tf_offset_republish.launch
  This is used to create easily offset to vicon frames

• scripts/ros_traj_consum_interpol_interface_node.py, src/ros_pybullet_interface/interpolation.py
  This is the interpolation, which comes along with launch and configs, I guess we will have to make a new easy example and hence make new configs and launch

• I assume that will migrate the rbdl IK to the the other repo, so I skip it here

• scripts/rviz_visualization.py, launch/rviz_visualization.launch and the rviz folder, but the latter has to become more generic I think

In the configs there are a lot of useful stuff too, but we will have to migrate them slow-slowly if we need them

Let's not close this issue, I will have to look again, maybe I forgot something.
Also, there were a bunch of services implemented, but I think you have them already in the revamp.
Is there somewhere (in revamp) a list of such services ?

[cmower]

• scripts/hw_interface/vicon_tf_offset.py, launch/vicon_tf_offset_republish.launch
  This is used to create easily offset to vicon frames
• scripts/ros_traj_consum_interpol_interface_node.py, src/ros_pybullet_interface/interpolation.py
  This is the interpolation, which comes along with launch and configs, I guess we will have to make a new easy example and hence make new configs and launch
• I assume that will migrate the rbdl IK to the the other repo, so I skip it here
• scripts/rviz_visualization.py, launch/rviz_visualization.launch and the rviz folder, but the latter has to become more generic I think

I will start moving these.

In the configs there are a lot of useful stuff too, but we will have to migrate them slow-slowly if we need them

No problem, lets migrate as-and-when - just make sure to create a new branch that copies the current state of the main branch.

Let's not close this issue, I will have to look again, maybe I forgot something. Also, there were a bunch of services implemented, but I think you have them already in the revamp. Is there somewhere (in revamp) a list of such services ?

I haven't documented the services yet, but you can find those that are specific to an object in ./ros_pybullet_interface/src/ros_pybullet_interface, e.g. the robot the services are defined here:

ros_pybullet_interface/ros_pybullet_interface/src/ros_pybullet_interface/pybullet_robot.py

Lines 176 to 177 in fc9f21e

	self.srvs['robot_info'] = self.node.Service(f'rpbi/{self.name}/robot_info', RobotInfo, self.service_robot_info)
	self.srvs['snap_to_real_robot'] = self.node.Service(f'rpbi/{self.name}/snap_to_real_robot', SetString, self.service_snap_to_real_robot)

Others services exist in the individual scripts.

There are also some services defined in the main ros_pybullet_interface_node.py script here:

ros_pybullet_interface/ros_pybullet_interface/scripts/ros_pybullet_interface_node.py

Lines 38 to 42 in fc9f21e

	self.Service('rpbi/add_pybullet_visual_object', SetString, partial(self.service_add_pybullet_object, object_type=PybulletVisualObject))
	self.Service('rpbi/add_pybullet_collision_object', SetString, partial(self.service_add_pybullet_object, object_type=PybulletCollisionObject))
	self.Service('rpbi/add_pybullet_dynamic_object', SetString, partial(self.service_add_pybullet_object, object_type=PybulletDynamicObject))
	self.Service('rpbi/add_pybullet_robot', SetString, partial(self.service_add_pybullet_object, object_type=PybulletRobot))
	self.Service('rpbi/remove_pybullet_object', SetString, self.service_remove_pybullet_object)

Let me know if there are any services missing that you need?

[cmower]

@stoutheo re vicon_tf_offset.py. Instead you could use a static transform, see point 5 at bottom of this page. I prefer we only include things that aren't necessarily in the ROS ecosystem.

I see (below) that you publish this offset and broadcast it to tf2, is there a need for this? If you're subscribing somewhere else to the offset topic and you want the transform you can just as easily use a tf2 listener - I suggest using ros_pybullet_interface/src/ros_pybullet_interface/tf_interface.py.

ros_pybullet_interface/scripts/hw_interface/vicon_tf_offset.py

Lines 86 to 91 in 070bfe4

	msg_transform.header.frame_id = WORLD_FRAME
	msg_transform.header.stamp = rospy.Time.now()
	self.vicon_pose_offset_publisher.publish(msg_transform)
	# Publish msg_transform in tf
	self.tfBroadcaster.sendTransform(msg_transform)

If you're happy to deprecate vicon_tf_offset.py, we can directly adapt launch/vicon_tf_offset_republish.launch with static transforms.

[cmower]

@stoutheo re scripts/rviz_visualization.py, would it make sense to initialize these objects as visual objects in Pybullet and then have the option to publish these as markers to ROS? (I think I may implement this feature anyway)

[cmower]

@stoutheo I am creating a rpbi_utils package, and will put interpolation scripts there. I haven't edited the files, only put them in place. I am wondering however, re scripts/ros_traj_consum_interpol_interface_node.py (now renamed as rpbi_utils/scripts/interpolation_node.py), can you make this serviceable so that the node sits and waits for service requests rather than one-time executes a published message (messages/topics should be used for repeated calls)