No robot motion after relaxing camera pose constraints

[aadityasaraiya]

Hi,

As a follow up of this issue, I removed the camera pose constraints applied to the motion planner to plan and execute the array of poses provided by the Next Best View Planner.

With the constraints relaxed, the robot was able to plan considerably more paths. However, a good number of paths failed to execute because the shoulder_link or the forearm_link were in collision with each other or with the table_link which lead to the robot landing in the following position.

The issues seem to be more related to the lack of maneuverability with the manipulator URDF itself.

Another weird behavior is that when the myworkcell_planning_execution is launched the TF tree seems correct.

However, after starting the TSDF reconstruction node, the TF tree is shifted below by a certain amount and certain frames get messed up.

Further analysis is required in order to understand where the issue lies.

Any comments will be much valuable.
Thanks!

@Levi-Armstrong

[aadityasaraiya]

Update- The broken TF tree issue has been solved.

The reason for the issue was that the static TF transforms were being published both by my MoveIt! package and the launch_xtion_robot.launch file because of the following line

    <node name="world_to_base_publisher" pkg="tf" type="static_transform_publisher" args="0 0 0 0 0 0 world_frame base_link 100" output="screen"/>

After commenting that line out, the TF tree remains the same as before.

@schornakj @AustinDeric Just a small doubt.

Q: Should the TF static transform from the world to base of the robot be ideally published by the moveit_planning_execution.launch file or the launch_xtion_robot.launch file?

Comments: Because if launch_xtion_robot.launch file is publishing transforms by default, it could lead to the TF tree being broken (similar to this issue).

Note- This also removes the additional shifted Octomap which was being generated in the middle. However the one on the right side still remains.