Development Notes

CoSTAR Component

All CoSTAR classes that represent components should ideally extend the CostarComponent class in costar_stack/costar_component.

For example:

from costar_component import CostarComponent

class MyComponent(CostarComponent):
  def __init__(self, myargs, *args, **kwargs):
    super(MyComponent, self).__init__(*args, **kwargs)

See the example component code.

Arm Configurations

Arm configuration should go in costar_stack/costar_bringup/launch/config. For example, the UR5 config looks like this:

<launch>
  <!-- Smartmove params -->
  <group ns="costar">
    <rosparam param="home">[0.30, -1.33, -1.80, -0.27, 1.50, 1.60]</rosparam>
    <group ns="robot">
      dof: 6
      base_link: base_link
      end_link: ee_frame
    </group>
    <group ns="smartmove">
      <rosparam param="available_objects">
        - sander_makita
        - node_uniform
        - link_uniform
        - drill
        - table
      </rosparam>
      <rosparam param="regions">
        - in_back_of
        - in_front_of
        - right_of
        - left_of
        - up_from
        - down_from
      </rosparam>
      <rosparam param="references">
        - world
      </rosparam>
    </group>
  </group>
</launch>

The alternative is to write a yaml file.

Tests

Tests go in costar_stack/costar_bringup/tests. Right now these include:

• IIWA sim test: launches gazebo, servos to several positions and verifies that the robot makes it.

Make sure the tests work before making any changes.

Travis CI

• IIWA sim test is not included in Travis.