Recent changes to Using Lightning

WikiPage Using Lightning modified by Cameron Lee

Cameron Lee — Sun, 10 Jun 2012 23:25:32 -0000

--- v22
+++ v23
@@ -136,4 +136,4 @@
 1. Go into the lightning package: `roscd lightning`
 + Go into the paths directory: `cd src/pathlib/paths`
 + Remove the directory that corresponds to the library that you want to delete with the `rm -r` command.
-    * The directories are named with the following structure: paths_\_\. To find the joint names that the library is for, then view the `_lib_info` file in the library directory.
+    * The library directories are named with the following structure: paths_\_\. To make sure you are deleting the correct library, check that the robot name and joint names in the `_lib_info` file in the library directory to be deleted are the right ones.

WikiPage Using Lightning modified by Cameron Lee

Cameron Lee — Sun, 10 Jun 2012 23:21:51 -0000

--- v21
+++ v22
@@ -107,6 +107,8 @@
 
 ### Library Management ###
 
+#### Library Management through Lightning ####
+
 In addition to having Lightning interface with the path librar(ies), you can as well. 
 
 There are three management actions for the librar(ies): storing a path, deleting a path, and deleting a library. When Lightning is running, send ManagePathLibrary service requests to "manage_path_library" to perform these actions.
@@ -126,3 +128,12 @@
 3. Deleting a library: 
     * Set the action to DELETE_LIBRARY.
     * Send the robot name and joint names corresponding to the library that is to be deleted.
+
+#### Manual Library Management ####
+
+You can also delete a library from the command line when Lightning is not running.
+
+1. Go into the lightning package: `roscd lightning`
++ Go into the paths directory: `cd src/pathlib/paths`
++ Remove the directory that corresponds to the library that you want to delete with the `rm -r` command.
+    * The directories are named with the following structure: paths_\_\. To find the joint names that the library is for, then view the `_lib_info` file in the library directory.

WikiPage Using Lightning modified by Cameron Lee

Cameron Lee — Fri, 01 Jun 2012 07:15:52 -0000

--- v20
+++ v21
@@ -2,7 +2,7 @@
 
 An environment server must already be started for Lightning to work.
 
-Also, make sure that the ROBOT environment variable is set to the machine that lightning is running for.
+Also, make sure that the ROBOT environment variable and robot_description parameter are set for the machine that Lightning is running for.
 
 To start lightning with the default parameters, run the following command:
 `roslaunch lightning lightning.launch`

WikiPage Using Lightning modified by Cameron Lee

Cameron Lee — Fri, 01 Jun 2012 06:52:49 -0000

--- v19
+++ v20
@@ -1,6 +1,8 @@
 ### Starting Lightning ###
 
 An environment server must already be started for Lightning to work.
+
+Also, make sure that the ROBOT environment variable is set to the machine that lightning is running for.
 
 To start lightning with the default parameters, run the following command:
 `roslaunch lightning lightning.launch`

WikiPage Using Lightning modified by Cameron Lee

Cameron Lee — Tue, 29 May 2012 00:27:46 -0000

--- v18
+++ v19
@@ -44,7 +44,7 @@
 
 **rr_node/num_rr_planners** (default=2)
 
-Number of planners used for retrieve-repair. If a retrieved path has multiple invalid sections, then those sections are replanned in parallel. This parameter specifies how many invalid sections are replanned in at one time. If there are more invalid sections than RR planners, then some go into a queue and are repaired when a planner finishes and becomes available. The planners must be started separately. To see how the planners are started, see the ompl_planning.launch file.
+Number of planners used for retrieve-repair. If a retrieved path has multiple invalid sections, then those sections are replanned in parallel. This parameter specifies how many invalid sections are replanned in at one time. If there are more invalid sections than RR planners, then some go into a queue and are repaired when a planner finishes and becomes available. The planners must be started separately. If this value is changed, then ompl_planning.launch must also be changed. To start another planner, see the ompl_planning.launch file for an example.
 
 **rr_node/path_library_path_node_size** (default=8)

WikiPage Using Lightning modified by Cameron Lee

Cameron Lee — Tue, 29 May 2012 00:23:50 -0000

--- v17
+++ v18
@@ -44,7 +44,7 @@
 
 **rr_node/num_rr_planners** (default=2)
 
-Number of planners used for retrieve-repair. The planners must be started separately. To see how the planners are started, see the ompl_planning.launch file.
+Number of planners used for retrieve-repair. If a retrieved path has multiple invalid sections, then those sections are replanned in parallel. This parameter specifies how many invalid sections are replanned in at one time. If there are more invalid sections than RR planners, then some go into a queue and are repaired when a planner finishes and becomes available. The planners must be started separately. To see how the planners are started, see the ompl_planning.launch file.
 
 **rr_node/path_library_path_node_size** (default=8)

WikiPage Using Lightning modified by Cameron Lee

Cameron Lee — Sun, 20 May 2012 01:12:59 -0000

--- v16 
+++ v17 
@@ -7,7 +7,7 @@
 
 To start lightning with custom parameters, create a launch file and place the following line in it:
 ``
-Also, set the desired parameters in the launch file:
+Set the desired parameters after the above line:
 ``
 
 ##### Lightning Parameters #####

WikiPage Using Lightning modified by Cameron Lee

Cameron Lee — Sun, 20 May 2012 01:10:59 -0000

--- v15 
+++ v16 
@@ -93,7 +93,9 @@
 + motion_plan_request.goal_constraints.joint_constraints\[i\].position
 + motion_plan_request.allowed_planning_time
 
-The robot_name parameter and the joint_names provided in the GetMotionPlan request determine the path library that is used for retrieving paths and storing them. Different libraries are created and used for different combinations of robot_name and joint_names. All libraries are saved until they are deleted.
+The robot_name parameter and the joint_names provided in the GetMotionPlan request determine the path library that is used for retrieving paths and storing them. Different libraries are created and used for different combinations of robot_name and joint_names. Libraries are saved even after Lightning is shut down.
+
+If you are using the same robot (and same joints) in different environments, make sure that the robot name parameter is unique for each different environment. Otherwise, path libraries for different environments will be mixed.
 
 The Lightning planner does not currently handle position constraints or tolerances.

WikiPage Using Lightning modified by Cameron Lee

Cameron Lee — Sun, 20 May 2012 01:01:04 -0000

--- v14 
+++ v15 
@@ -99,6 +99,8 @@
 
 Lightning will return the planned path in trajectory.joint_trajectory.points.
 
+

+
 ### Library Management ###
 
 In addition to having Lightning interface with the path librar(ies), you can as well.

WikiPage Using Lightning modified by Cameron Lee

Cameron Lee — Sun, 20 May 2012 01:00:34 -0000

--- v13 
+++ v14 
@@ -70,13 +70,15 @@
 
 Set to false if you do not want to store paths in the library when planning.
 
-**lightning/use_RR** (default=True)
-
+**lightning/use_RR** (default=true)
+
 Set to false if you do not want to use retrieve-repair.
 
-**lightning/use_PFS** (default=True)
+**lightning/use_PFS** (default=true)
 
 Set to false if you do not want to use planning-from-scratch.
+
+

 
 ### Using Lightning ###