Moveit: Can't launch demo.launch with db:=true

[ugocupcic]

I'm trying to connect to the warehouse, and in jade and kinetic I'm not able to do so. warehouse_ros does not seem to contain the mongo_wrapper_ros.py which is listed in the launch file here.

Is anyone else using the warehouse?

[v4hn]

Heya,

the mongodb interface has been changed to a more generic database plugin interface in jade and kinetic.
However, at the moment we don't have a working mongodb plugin (or any other system for that matter) in the upstream repositories.
The work of @TheBrewCrew for this plugin can be found here, I believe:
https://github.com/TheBrewCrew/warehouse_ros_mongo/tree/jade-devel

This will need further cleanup and testing, before we can provide this officially..

[ugocupcic]

thanks @v4hn I managed to get warehouse_ros_mongo to at least compile using these instructions - branch 26compat. Still have issues actually connecting to it but as you said it's not ready yet so I can move that part of the discussion over there.

[davetcoleman]

@ugocupcic would be great if you could take the lead on getting warehouse_ros_mongo cleanedup and merged back into MoveIt!. we've discussed it and none of the maintainers use that functionality in moveit and thus are not motivated to work on it.

[ugocupcic]

I managed to get the connection to the database working with warehouse_ros_mongo + a few changes in the default launch files from moveit:

in warehouse_settings.launch.xml, I added:

   <param name="warehouse_plugin" value="warehouse_ros_mongo::MongoDatabaseConnection" />

and I replaced warehouse_ros by warehouse_ros_mongo in warehouse.launch to be able to spawn the mongo_wrapper_ros.py.

The db connection is working nicely.

Regarding cleaning it up and merged back into moveit, I'm not sure how much work is involved for this. Currently building the warehouse_ros_mongo package depends on a source install of the mongo cpp driver....

We're talking about a pr that adds the 2 packages (warehouse_ros / warehouse_ros_mongo) to this new moveit repository right?

I'll see what we can do at Shadow.

[v4hn]

On Fri, Aug 19, 2016 at 12:46:07AM -0700, Ugo Cupcic wrote:

I managed to get the connection to the database working with warehouse_ros_mongo + a few changes in the default launch files from moveit:
in warehouse_settings.launch.xml, I added:

   <param name="warehouse_plugin" value="warehouse_ros_mongo::MongoDatabaseConnection" />

and I replaced warehouse_ros by warehouse_ros_mongo in warehouse.launch to be able to spawn the mongo_wrapper_ros.py.
The db connection is working nicely.

Great!

Could you provide a pull-request for this for the moveit_setup_assistent templates?
Required-to-build-from-source is better than having no support at all for the database in jade and kinetic!

Regarding cleaning it up and merged back into moveit, I'm not sure how much work is involved for this.
Currently building the warehouse_ros_mongo package depends on a source install of the mongo cpp driver....

We're talking about a pr that adds the 2 packages (warehouse_ros / warehouse_ros_mongo) to this new moveit repository right?

@130s @mikeferguson do we want to have warehouse_ros in moveit again?
As it provides a plugin interface, does not add database dependencies anymore, and is coupled with MoveIt, I think that would make sense.

warehouse_ros_mongo should definitely not be merged into the moveit repo,
but it might make sense to host it in the ros-planning organization with the MoveIt project having control over it.

The long-term goal should be to have the plugin running with one of the MongoDB client libraries released in ubuntu.
I have no idea how much work that is though.

I'll see what we can do at Shadow.

Thanks for your support!

[ugocupcic]

On 19 August 2016 at 11:32, Michael Görner [email protected] wrote:

On Fri, Aug 19, 2016 at 12:46:07AM -0700, Ugo Cupcic wrote:

I managed to get the connection to the database working with
warehouse_ros_mongo + a few changes in the default launch files from moveit:
in warehouse_settings.launch.xml, I added:

<param name="warehouse_plugin" value="warehouse_ros_mongo::MongoDatabaseConnection"
/>

and I replaced warehouse_ros by warehouse_ros_mongo in
warehouse.launch to be able to spawn the mongo_wrapper_ros.py.
The db connection is working nicely.

Great!

Could you provide a pull-request for this for the moveit_setup_assistent
templates?
Required-to-build-from-source is better than having no support at all for
the database in jade and kinetic!

I'll submit the pr in a bit.

Regarding cleaning it up and merged back into moveit, I'm not sure how
much work is involved for this.
Currently building the warehouse_ros_mongo package depends on a source
install of the mongo cpp driver....

We're talking about a pr that adds the 2 packages (warehouse_ros /
warehouse_ros_mongo) to this new moveit repository right?

@130s @mikeferguson do we want to have warehouse_ros in moveit again?
As it provides a plugin interface, does not add database dependencies
anymore, and is coupled with MoveIt, I think that would make sense.

warehouse_ros_mongo should definitely not be merged into the moveit
repo,
but it might make sense to host it in the ros-planning organization with
the MoveIt project having control over it.

The long-term goal should be to have the plugin running with one of the
MongoDB client libraries released in ubuntu.
I have no idea how much work that is though.

+1 on all those.

In the meantime, we could may be modify the kinetic source install in
docker to have a workable environment for the db?

I'll see what we can do at Shadow.

Thanks for your support!

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[ugocupcic]

Also added a few instructions on how to install the mongo drivers here https://github.com/TheBrewCrew/warehouse_ros_mongo/pull/1

[v4hn]

Addressed by #81 , thanks for resolving this!