Print a collision summary to status of failed contact check

[marrts]

Better debugging at a glance for dot graphs. Depends on tesseract-robotics/tesseract#1079

[Levi-Armstrong]

Not that I am against adding this, just wanted mention here. There is now a log file that can be generated and tesseract_qt has a viewer that allows you to inspect a lot of this type of information.

https://github.com/tesseract-robotics/tesseract_planning/blob/master/tesseract_task_composer/core/include/tesseract_task_composer/core/task_composer_log.h

[marrts]

There is now a log file that can be generated and tesseract_qt has a viewer that allows you to inspect a lot of this type of information.

I was unaware of this, I can't seem to get it to work in RVIZ with tesseract_ros2. I was able to save and then load a log file (although it was 6.6 GB), and I see things about viewing trajectories and toolpaths in the widget, but nothing actually displays.

In general my proposed change just helps for seeing things at a glance. I am saving all my programs at each step with unique names and publishing them all to the trajectory viewer, so I can debug things nicely, but it can be hard to dig through them all to find the collision and there are so many terminal logs that I can't easily find the collision report.

[marrts]

and there are so many terminal logs that I can't easily find the collision report

I think something that would be really cool is to have a tesseract logger object that optionally prints stuff to the terminal, but also stores all the logs to a map based on UUIDs of tasks/graphs. Then all the terminal logs could be exported into unique files, making it easy to debug an individual task even when multiple threads are running at the same time

[Levi-Armstrong]

I was unaware of this, I can't seem to get it to work in RVIZ with tesseract_ros2. I was able to save and then load a log file (although it was 6.6 GB), and I see things about viewing trajectories and toolpaths in the widget, but nothing actually displays.

In general my proposed change just helps for seeing things at a glance. I am saving all my programs at each step with unique names and publishing them all to the trajectory viewer, so I can debug things nicely, but it can be hard to dig through them all to find the collision and there are so many terminal logs that I can't easily find the collision report.

The widget has a context menu that allows you to right click on composite instruction and send as a tool path or joint trajectory. I need to add more like sending the collision results, etc.

[Levi-Armstrong]

I could see this blowing up. Should we just print the first contact summary?

[marrts]

The way I have it, it's up to the user how much is printed. If they have contact check set to FIRST then they'll only get one. If it is set to ALL then they'll potentially get a long novel printed out, which is maybe useful for them.

[Levi-Armstrong]

I think it may be better to compile the vector of maps into a single map and then print the summary to avoid a large message.

[Levi-Armstrong]

@marrts What are your thoughts on the proposal above?

[marrts]

That sounds reasonable to me

[codecov]

Codecov Report

❌ Patch coverage is 9.09091% with 70 lines in your changes missing coverage. Please review.
✅ Project coverage is 79.77%. Comparing base (d115e4f) to head (ffacfed).
⚠️ Report is 1 commits behind head on master.

Files with missing lines	Patch %	Lines
tesseract_motion_planners/core/src/utils.cpp	0.00%	70 Missing ⚠️

Additional details and impacted files

@@            Coverage Diff             @@
##           master     #543      +/-   ##
==========================================
+ Coverage   79.46%   79.77%   +0.30%     
==========================================
  Files         268      268              
  Lines       18990    18919      -71     
==========================================
+ Hits        15091    15092       +1     
+ Misses       3899     3827      -72     

Files with missing lines	Coverage Δ
...anning/src/nodes/continuous_contact_check_task.cpp	85.71% <100.00%> (ø)
...planning/src/nodes/discrete_contact_check_task.cpp	87.50% <100.00%> (+0.17%)	⬆️
tesseract_motion_planners/core/src/utils.cpp	0.00% <0.00%> (ø)

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[Levi-Armstrong]

@marrts I think this just needs a few changes and then this can be merged in.

[marrts]

@marrts I think this just needs a few changes and then this can be merged in.

If we're able to get tesseract-robotics/tesseract#1200 merged then we could potentially have better information in the printout with the new return object. Maybe we wait for that. (I understand that would also require a bigger update to this for contactCheckProgram similar to checkTrajectory in tesseract_environment)

[marrts]

@marrts I think this just needs a few changes and then this can be merged in.

If we're able to get tesseract-robotics/tesseract#1200 merged then we could potentially have better information in the printout with the new return object. Maybe we wait for that. (I understand that would also require a bigger update to this for contactCheckProgram similar to checkTrajectory in tesseract_environment)

Just playing around with some stuff and we can make a printout that looks something like this:

Obviously, this can be changed based on feedback, but this makes it really easy to quickly see where and what happened.

[Levi-Armstrong]

@marrts Do you have time to update this based on your changes in the tesseract repository?

[marrts]

@marrts Do you have time to update this based on your changes in the tesseract repository?

I should be able to do it later today or tomorrow.

[marrts]

@marrts Do you have time to update this based on your changes in the tesseract repository?

I should be able to do it later today or tomorrow.

Pushed, but it does require this other tesseract PR to print out a condensed trajectory summary message. tesseract-robotics/tesseract#1205