Adding service wrapper to give easy access to warehouse function

Question

Adding service wrapper to give easy access to warehouse function

dg-shadow opened this issue 9 years ago · comments

We (Shadow Robot) need to access to warehouse from moveit_commander for one of our projects. I plan to do this by adding service interfaces to various warehouse functions. Would this be of interest as a contribution for this package? I am starting work on this more or less now, so if anyone has any comments/suggestions/flame, they'd be appreciated but get them in soon please :)

Shaun Edwards · Answer 1 · Wed Jul 15 2015 09:53:54 GMT+0800 (China Standard Time)

+0....I'm all for contributing and capability to MoveIt. However, I don't know enough to say whether what you propose is useful or appropriate. Hopefully someone more knowledgeable will chime in!

Dave Coleman · Answer 2 · Wed Jul 15 2015 23:35:03 GMT+0800 (China Standard Time)

Could you explain more why you would want this? You'd like to load saved collision objects and planning scenes from Warehouse using the Commander scripting language?

dg-shadow · Answer 3 · Fri Jul 17 2015 18:57:21 GMT+0800 (China Standard Time)

Basically yes, although it's actually robot states I need first. I wish to be able to load, manipulate and use the states from within a python node. I figured services were a nice and general way to get access to the Warehouse contents.

Dave Coleman · Answer 4 · Fri Jul 31 2015 11:49:03 GMT+0800 (China Standard Time)

Sounds like a good idea. I've never much liked the mongodb (that's what it is, right?) backend of warehouse, but in theory these are very useful features, especially from Commander.