Outstanding tasks for manipulation tutorials

[mabelzhang]

(Post-release 4.0.0 okay)

Common to all 5 manipulation tutorials below

• (Move all manipulation files in uuv_dave out of legacy #150) Move associated files in uuv_dave out of legacy/
  • Launch files go to examples/dave_demo_launch?
  • Plugins go to gazebo/.....? Can't guess the right subdirectory
• Fix tf spam - I don't remember if these were resolved in other parts of the repo. Am I the only one getting these? Now tracked in dave_demo.launch warning spams #152

  [ WARN] [1627632533.852584126, 262.972000000]: TF_REPEATED_DATA ignoring data with redundant timestamp for frame rexrov/base_link_ned at time 262.972000 according to authority unknown_publisher
  Warning: TF_REPEATED_DATA ignoring data with redundant timestamp for frame rexrov/base_link_ned at time 262.972000 according to authority /gazebo
           at line 278 in /tmp/binarydeb/ros-noetic-tf2-0.7.5/src/buffer_core.cpp
  

Each tutorial specifically

• https://github.com/Field-Robotics-Lab/dave/wiki/Swapping-out-the-Oberon7-arm-with-another-manipulator/
  See above. Update: uuv_predator.launch had already been copied to rexrov_predator.launch and works.
• https://github.com/Field-Robotics-Lab/dave/wiki/Manipulator-Force-Feedback/
  • (Move all manipulation files in uuv_dave out of legacy #150) See above
• https://github.com/Field-Robotics-Lab/dave/wiki/Electrical-Plug-Mating-Plugin/
  • (Move uuv_mating out of legacy #149) Move uuv_mating, in addition to associated files in uuv_dave, out of legacy/. Files are listed here Electrical mating plugin #40.
  • Tutorial doesn’t say how to actually move the robot. Joystick presumably. Should link to a page detailing joystick control for RexROV and the Oberon7.
• https://github.com/Field-Robotics-Lab/dave/wiki/BOP-Panel-Manipulation-Mission
  • (Move all manipulation files in uuv_dave out of legacy #150) See above
  • Tutorial doesn’t say how to actually move the robot. Joystick presumably. Should link to a page detailing joystick control for RexROV and the Oberon7.
• https://github.com/Field-Robotics-Lab/dave/wiki/Teleop-Bar-Retrieval
  • This tutorial uses the same launch file (uuv_dave.launch I assumed and added) as the arm swapper tutorial, so should be set. Update: uuv_dave.launch had already been copied to dave_demo.launch and works.
  • This tutorial has a bit more detail about the joystick. The two above should do the same, or they should all link to a page that talks about how to use the joystick. So far, I figured the left stick does z translation and rotation, and the right stick does x and y translation, for the base. I haven’t figured out how to move the actual arm.

[bsb808]

@mabelzhang

1. Ideally we'd get uuv_mating and uuv_dave bits and pieces moved out of the legacy prior to 4.0.0. Can you do that today?
2. The tf spam issue seems larger - agree we'll need to put that to post 4.0.0

[mabelzhang]

I can try to put them in the right places and others can check the locations in the PR.
I have a short meeting before noon PT and another thing due today, so I'll try.

[bsb808]

I'm flip-flopping. I want to make the release deadline that is 16 minutes away, so let's push this to 4.0.1

[mabelzhang]

Okay. Yeah I'm getting crashes about TCP errors after moving uuv_mating. It's not gonna be done in the next 10 minutes.

[mabelzhang]

I've addressed everything in this ticket in #149 and #150, other than the tf spam, which isn't specific to manipulation tutorials and could be tracked either here or in a separate issue.

[mabelzhang]

Closing as all have been merged