{"action":"created","comment":{"url":"https://api.github.com/repos/ros-industrial-consortium/godel/pulls/comments/49140765","id":49140765,"diff_hunk":"@@ -0,0 +1,46 @@\n+#include \"godel_process_planning/godel_process_planning.h\"\n+#include <moveit/robot_model_loader/robot_model_loader.h>\n+\n+godel_process_planning::ProcessPlanningManager::ProcessPlanningManager(const std::string &world_frame,\n+                                                                       const std::string &blend_group,\n+                                                                       const std::string &blend_tcp,\n+                                                                       const std::string &keyence_group,\n+                                                                       const std::string &keyence_tcp,\n+                                                                       const std::string &robot_model_plugin)\n+  : plugin_loader_(\"descartes_core\", \"descartes_core::RobotModel\")\n+  , blend_group_name_(blend_group)\n+  , keyence_group_name_(keyence_group)\n+{\n+  // Attempt to load and initialize the blending robot model\n+  blend_model_ = plugin_loader_.createInstance(robot_model_plugin);\n+  if (!blend_model_)\n+  {\n+    throw std::runtime_error(std::string(\"Could not load: \") + robot_model_plugin);\n+  }\n+\n+  if (!blend_model_->initialize(\"robot_description\", blend_group, world_frame, blend_tcp))\n+  {\n+    throw std::runtime_error(\"Unable to initialize blending robot model\");\n+  }\n+\n+  // Attempt to load and initialize the scanning/keyence robot model\n+  keyence_model_ = plugin_loader_.createInstance(robot_model_plugin);\n+  if (!keyence_model_)\n+  {\n+    throw std::runtime_error(std::string(\"Could not load: \") + robot_model_plugin);\n+  }\n+\n+  if (!keyence_model_->initialize(\"robot_description\", keyence_group, world_frame, keyence_tcp))","path":"godel_process_planning/src/godel_process_planning.cpp","position":33,"original_position":33,"commit_id":"e197518da90bb5f5aac547d27c54bc3366e80577","original_commit_id":"4ad9322444ec8581f4dcf935571507c3a647673c","user":{"login":"jrgnicho","id":3279718,"avatar_url":"https://avatars.githubusercontent.com/u/3279718?v=3","gravatar_id":"","url":"https://api.github.com/users/jrgnicho","html_url":"https://github.com/jrgnicho","followers_url":"https://api.github.com/users/jrgnicho/followers","following_url":"https://api.github.com/users/jrgnicho/following{/other_user}","gists_url":"https://api.github.com/users/jrgnicho/gists{/gist_id}","starred_url":"https://api.github.com/users/jrgnicho/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/jrgnicho/subscriptions","organizations_url":"https://api.github.com/users/jrgnicho/orgs","repos_url":"https://api.github.com/users/jrgnicho/repos","events_url":"https://api.github.com/users/jrgnicho/events{/privacy}","received_events_url":"https://api.github.com/users/jrgnicho/received_events","type":"User","site_admin":false},"body":"We should probably modify  the descartes RobotModel initialize() method so that it takes a moveit RobotModel instead of a string.  This should prevent having to load the robot description rom the ros parameter multiple times.  Loading large complex models can take a lot of time.","created_at":"2016-01-07T23:24:42Z","updated_at":"2016-01-07T23:24:42Z","html_url":"https://github.com/ros-industrial-consortium/godel/pull/69#discussion_r49140765","pull_request_url":"https://api.github.com/repos/ros-industrial-consortium/godel/pulls/69","_links":{"self":{"href":"https://api.github.com/repos/ros-industrial-consortium/godel/pulls/comments/49140765"},"html":{"href":"https://github.com/ros-industrial-consortium/godel/pull/69#discussion_r49140765"},"pull_request":{"href":"https://api.github.com/repos/ros-industrial-consortium/godel/pulls/69"}}},"pull_request":{"url":"https://api.github.com/repos/ros-industrial-consortium/godel/pulls/69","id":55157578,"html_url":"https://github.com/ros-industrial-consortium/godel/pull/69","diff_url":"https://github.com/ros-industrial-consortium/godel/pull/69.diff","patch_url":"https://github.com/ros-industrial-consortium/godel/pull/69.patch","issue_url":"https://api.github.com/repos/ros-industrial-consortium/godel/issues/69","number":69,"state":"open","locked":false,"title":"Process Planning Services","user":{"login":"Jmeyer1292","id":4960180,"avatar_url":"https://avatars.githubusercontent.com/u/4960180?v=3","gravatar_id":"","url":"https://api.github.com/users/Jmeyer1292","html_url":"https://github.com/Jmeyer1292","followers_url":"https://api.github.com/users/Jmeyer1292/followers","following_url":"https://api.github.com/users/Jmeyer1292/following{/other_user}","gists_url":"https://api.github.com/users/Jmeyer1292/gists{/gist_id}","starred_url":"https://api.github.com/users/Jmeyer1292/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/Jmeyer1292/subscriptions","organizations_url":"https://api.github.com/users/Jmeyer1292/orgs","repos_url":"https://api.github.com/users/Jmeyer1292/repos","events_url":"https://api.github.com/users/Jmeyer1292/events{/privacy}","received_events_url":"https://api.github.com/users/Jmeyer1292/received_events","type":"User","site_admin":false},"body":"The process planning service was the eventual evolution of the path planner. It not only uses Descartes to do cartesian path trajectory planning, but also throws in moveit and some simple linear interpolators to calculate the approach and departure paths. \r\n\r\nI'm throwing this code up here as is, and I will also review it myself so I have a record of the ultimate changes I'm making relative to the version I'm moving 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