Robot library remove old robots #407

yck011522 · 2024-02-20T17:37:50Z

This depends on #406, we should review and merge #406 first before this one.

Removed compas_fab.robots.ur5 because it is now part of compas_fab.robots.RobotLibrary.
Removed data files of ur5 and ur10e from src/compas_fab/data/universal_robots because they are now in of src/compas_fab/data/robot_library.

Future constructs should use:

from compas_fab.robots import RobotLibrary
robot = RobotLibrary.ur5(load_geometry=True)

Or from URDF and SRDF from scratch

urdf_filename = compas_fab.get("robot_library/ur5_robot/urdf/robot_description.urdf")
robot_model = RobotModel.from_urdf_file(urdf_filename )

mesh_loader = LocalPackageMeshLoader(compas_fab.get("robot_library/ur5_robot"), "")
robot_model.load_geometry(mesh_loader)

srdf_filename = compas_fab.get("robot_library/ur5_robot/robot_description_semantic.srdf")
semantics = RobotSemantics.from_srdf_file(srdf_filename, robot_model)
robot = Robot(robot_model, semantics=semantics)

What type of change is this?

Bug fix in a backwards-compatible manner.
New feature in a backwards-compatible manner.
Breaking change: bug fix or new feature that involve incompatible API changes.
Other (e.g. doc update, configuration, etc)

Checklist

Put an x in the boxes that apply. You can also fill these out after creating the PR. If you're unsure about any of them, don't hesitate to ask. We're here to help! This is simply a reminder of what we are going to look for before merging your code.

I added a line to the CHANGELOG.md file in the Unreleased section under the most fitting heading (e.g. Added, Changed, Removed).
I ran all tests on my computer and it's all green (i.e. invoke test).
I ran lint on my computer and there are no errors (i.e. invoke lint).
I added new functions/classes and made them available on a second-level import, e.g. compas_fab.robots.CollisionMesh.
I have added tests that prove my fix is effective or that my feature works.
I have added necessary documentation (if appropriate)

yck011522 · 2024-02-22T05:10:38Z

@gonzalocasas (whenever you are free, not urgent). I cannot seem to get pass two integration doctests that connects to ROS in the Docker. They both threw the "Cannot Connect to ROS" error.

I see that there are only two files with docs that connects to ROS for testing.

src\compas_fab\backends\ros\client.py
src\compas_fab\robots\robot.py

Somehow there was no problem connecting to ROS from the client.py file.

I have tried to change the doc example to use a context manager (with RosClient() as ros:) but it doesn't help. I have tried adding timeout=30 to the connection but it doesn't help. I cannot reproduce the error in my local environment with python 3.8 (Windows), so maybe it is a Ubuntu thing?

yck011522 · 2024-02-22T05:21:52Z

@gonzalocasas (whenever you are free, not urgent). I cannot seem to get pass two integration doctests that connects to ROS in the Docker. They both threw the "Cannot Connect to ROS" error.

I see that there are only two files with docs that connects to ROS for testing.

src\compas_fab\backends\ros\client.py

src\compas_fab\robots\robot.py

Somehow there was no problem connecting to ROS from the client.py file.

I have tried to change the doc example to use a context manager (with RosClient() as ros:) but it doesn't help. I have tried adding timeout=30 to the connection but it doesn't help. I cannot reproduce the error in my local environment with python 3.8 (Windows), so maybe it is a Ubuntu thing?

Phew, Finally!! I just tried to change the Integration Test to run on py3.11 instead of 3.8 and the connection problem goes away. Also tried 3.10 and it does not work. Can you see if you are okay with py3.11 for Integration. @gonzalocasas

Edit: Okay, it is driving me crazy because it appears that the Ci just went through by sheer luck. The commit test in 0e25492 was failing for no reason. Damn. I officially declare that I'm going crazy and we should merge now because the test just happened to go Green at the current commit.

yck011522 · 2024-03-08T13:50:40Z

@gonzalocasas How do you feel about the rather frequent testdocs failing. Or if you have any insight why it is failing.

…s it is terminated immediately

…ove_old_robots

This reverts commit 30b6fe6.

…mplementation of roslibpy Run and Close.

gonzalocasas · 2024-04-12T12:25:21Z

src/compas_fab/backends/ros/client.py

+    def run(self, timeout=2.0):
+        """Kick-starts a non-blocking event loop.
+
+        Args:
+            timeout: Timeout to wait until connection is ready.
+        """
+        import threading
+        import time
+        from roslibpy.core import RosTimeoutError
+
+        t1 = time.time()
+        wait_connect = threading.Event()
+        self.factory.on_ready(lambda _: wait_connect.set())
+
+        self.factory.manager.run()
+        if not wait_connect.wait(timeout):
+            t2 = time.time()
+            raise RosTimeoutError("Failed to connect to ROS. Start Time: {}, Time elapsed: {}".format(t1, t2 - t1))
+


Please delete this one! ;)

src/compas_fab/backends/ros/client.py

gonzalocasas · 2024-04-12T12:28:35Z

src/compas_fab/robots/conftest.py

-
-
-@pytest.fixture(scope="function", autouse=True)
-def connect_to_ros(request, doctest_namespace):
-    if request.module.__name__ == "compas_fab.robots.robot":
-        doctest_namespace["robot"] = Robot()
-        yield
-    elif request.module.__name__ == "compas_fab.robots.planning_scene":
-        with RosClient() as client:
-            robot = Robot(client)
-
-            doctest_namespace["client"] = client
-            doctest_namespace["robot"] = robot
-
-            yield
-    else:
-        yield


Yay! Out with the trash!

gonzalocasas

🚀 LGTM!

jf--- · 2024-04-12T21:33:32Z

Amazing work @yck011522 !

yck011522 added 11 commits February 21, 2024 00:14

Removed all mentions of compas.robot.ur5

50d6835

Remove old UR5 and UR10e data files from src/ compas_fab/data

60277e1

Fix Doctest Failure

ed630a8

Replace ee_link with tool0 wherever possible

188d356

changelog

f4c152b

lint

bcfb6ce

Fix IPY comparision error using string

07111af

black

4428808

More timeout for connections to RosClient in doctest

7304f26

Trying to pass doctest more reliably

8774b7a

Merge branch 'compas-dev_main' into robot_library_remove_old_robots

db1f215

Update integration.yml from py3.8 to 3.11

317b129

yck011522 added 3 commits February 22, 2024 06:24

Update integration.yml to py3.10

672fb42

Revert integration.yml to py3.11

0e25492

Reverting the Ros timeout and the Context Manager in example

771e704

yck011522 marked this pull request as ready for review March 8, 2024 13:49

yck011522 mentioned this pull request Mar 8, 2024

Robot library #406

Merged

10 tasks

yck011522 and others added 10 commits March 29, 2024 16:40

Test adding sleep after RosClient Calls hopefully fixing random errors

d611985

Trying to handle the close event correctly if the script that request…

ae45f9c

…s it is terminated immediately

lint issue

a18dadb

lint again

11bc807

wait?

5ee40b9

🤷‍♂️

5f90b81

:/

853806b

trying to see if the problem is ros.run on-ready is set in wrong order.

6466a75

Error Message with time stamp

d63c0e7

Update RosTimeoutError message to include start time

b522f81

yck011522 added 11 commits March 30, 2024 12:53

connection with automnatic retry

ac65786

Update integration.yml back to py 3.8

1809733

Remove loading RobotModel from URDF example in ROS.

43fb45a

Skipped all tests inside docstring of ROS Client and Robot

30b6fe6

Merge remote-tracking branch 'compas-dev/main' into robot_library_rem…

6419e8c

…ove_old_robots

Removing the autofixture in pytest for robot.py and planning_scene.py

bfd1310

Revert "Skipped all tests inside docstring of ROS Client and Robot"

92d2d6e

This reverts commit 30b6fe6.

Change all ROSClient examples to be using context manager

2e189c1

Skip tests in Robot

9229af3

doc string error

c237849

Remove the Hack that we introduced into Client.py to test different i…

b0c0bcb

…mplementation of roslibpy Run and Close.

yck011522 requested a review from gonzalocasas April 12, 2024 10:17

yck011522 self-assigned this Apr 12, 2024

gonzalocasas reviewed Apr 12, 2024

View reviewed changes

src/compas_fab/backends/ros/client.py Outdated Show resolved Hide resolved

Update src/compas_fab/backends/ros/client.py

454e67e

gonzalocasas reviewed Apr 12, 2024

View reviewed changes

gonzalocasas approved these changes Apr 12, 2024

View reviewed changes

yck011522 merged commit 08773ba into main Apr 12, 2024
15 checks passed

yck011522 deleted the robot_library_remove_old_robots branch April 12, 2024 16:28

Provide feedback

Saved searches

Use saved searches to filter your results more quickly

Robot library remove old robots #407

Robot library remove old robots #407

yck011522 commented Feb 20, 2024 •

edited

Loading

yck011522 commented Feb 22, 2024 •

edited

Loading

yck011522 commented Feb 22, 2024 •

edited

Loading

yck011522 commented Mar 8, 2024

gonzalocasas Apr 12, 2024

gonzalocasas Apr 12, 2024

gonzalocasas left a comment

jf--- commented Apr 12, 2024

Robot library remove old robots #407

Robot library remove old robots #407

Conversation

yck011522 commented Feb 20, 2024 • edited Loading

What type of change is this?

Checklist

yck011522 commented Feb 22, 2024 • edited Loading

yck011522 commented Feb 22, 2024 • edited Loading

yck011522 commented Mar 8, 2024

gonzalocasas Apr 12, 2024

Choose a reason for hiding this comment

gonzalocasas Apr 12, 2024

Choose a reason for hiding this comment

gonzalocasas left a comment

Choose a reason for hiding this comment

jf--- commented Apr 12, 2024

yck011522 commented Feb 20, 2024 •

edited

Loading

yck011522 commented Feb 22, 2024 •

edited

Loading

yck011522 commented Feb 22, 2024 •

edited

Loading