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Fix getLinkModelNamesWithCollisionGeometry to include the base link #2660

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Jan 25, 2024
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Fix getLinkModelNamesWithCollisionGeometry to include the base link #2660

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Fix getLinkModelNamesWithCollisionGeometry to include the base link o…
MarqRazz Jan 24, 2024
3d1d0b1
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MarqRazz Jan 24, 2024
bb6b86f
validate link has parent
MarqRazz Jan 24, 2024
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8 changes: 8 additions & 0 deletions moveit_core/robot_model/src/joint_model_group.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -229,6 +229,14 @@ JointModelGroup::JointModelGroup(const std::string& group_name, const srdf::Mode
{
link_model_map_[link_model->getName()] = link_model;
link_model_name_vector_.push_back(link_model->getName());
// if this is the first link of the group with a valid parent and includes geometry (for example `base_link`) it should included
if (link_model_with_geometry_vector_.empty() && link_model->getParentLinkModel() &&
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I'm not sure this is the correct approach. There can be more than one discrete subtree in a group, this would only consider the first one.

We discussed a similar issue I observed in moveit/moveit#3570

I think the previous version of the code is correct for is_chain_ == false (a list of <link> or <joint> tags in SRDF) but not for the case of <chain> where the root link is included but not parent joint.

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@sjahr sjahr Mar 25, 2024 •
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Oh you're right, thanks for pointing that out! Do you think we should revert this change for now or just add a check for is_chain_?

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Hmm, this is getting surprisingly complicated ... is_chain_ is not passed to the constructor but guessed about near the end of the constructor. They might be different things altogether?

According to the code in RobotModel a chain as specified in SRDF could also go from finger_1_tip to finger_2_tip with the root being somewhere in the middle (eg the wrist).

Maybe a list of links should also get passed in to the constructor.

I'm also not yet sure how this relates to collision checking and what the problem actually was.

!link_model->getParentLinkModel()->getShapes().empty())
{
link_model_with_geometry_vector_.push_back(link_model->getParentLinkModel());
link_model_with_geometry_name_vector_.push_back(link_model->getParentLinkModel()->getName());
}
// all child links with collision geometry should also be included
if (!link_model->getShapes().empty())
{
link_model_with_geometry_vector_.push_back(link_model);
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