Merge ROS1 fixes

This commit is contained in:
Robert Haschke 2022-06-15 16:44:38 +02:00
commit 3b438f9b1c
3 changed files with 41 additions and 7 deletions

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@ -41,6 +41,7 @@
#include <moveit/planning_scene/planning_scene.h>
#include <moveit/trajectory_processing/time_parameterization.h>
#include <moveit/kinematics_base/kinematics_base.h>
#include <moveit/robot_state/cartesian_interpolator.h>
using namespace trajectory_processing;
@ -56,6 +57,8 @@ CartesianPath::CartesianPath() {
p.declare<double>("step_size", 0.01, "step size between consecutive waypoints");
p.declare<double>("jump_threshold", 1.5, "acceptable fraction of mean joint motion per step");
p.declare<double>("min_fraction", 1.0, "fraction of motion required for success");
p.declare<kinematics::KinematicsQueryOptions>("kinematics_options", kinematics::KinematicsQueryOptions(),
"KinematicsQueryOptions to pass to CartesianInterpolator");
}
void CartesianPath::init(const core::RobotModelConstPtr& /*robot_model*/) {}
@ -96,7 +99,8 @@ bool CartesianPath::plan(const planning_scene::PlanningSceneConstPtr& from, cons
double achieved_fraction = moveit::core::CartesianInterpolator::computeCartesianPath(
&(sandbox_scene->getCurrentStateNonConst()), jmg, trajectory, &link, target, true,
moveit::core::MaxEEFStep(props.get<double>("step_size")),
moveit::core::JumpThreshold(props.get<double>("jump_threshold")), is_valid);
moveit::core::JumpThreshold(props.get<double>("jump_threshold")), is_valid,
props.get<kinematics::KinematicsQueryOptions>("kinematics_options"));
assert(!trajectory.empty()); // there should be at least the start state
result = std::make_shared<robot_trajectory::RobotTrajectory>(sandbox_scene->getRobotModel(), jmg);

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@ -79,10 +79,12 @@ TaskPrivate::TaskPrivate(Task* me, const std::string& ns)
TaskPrivate& TaskPrivate::operator=(TaskPrivate&& other) {
this->WrapperBasePrivate::operator=(std::move(other));
ns_ = std::move(other.ns_);
introspection_ = std::move(other.introspection_);
robot_model_ = std::move(other.robot_model_);
robot_model_loader_ = std::move(other.robot_model_loader_);
task_cbs_ = std::move(other.task_cbs_);
// Ensure same introspection status, but keep the existing introspection instance,
// which stores this task pointer and includes it in its task_id_
static_cast<Task*>(me_)->enableIntrospection(static_cast<bool>(other.introspection_));
return *this;
}
@ -211,17 +213,17 @@ void Task::init() {
stages()->pimpl()->resolveInterface(InterfaceFlags({ GENERATE }));
// provide introspection instance to all stages
impl->setIntrospection(impl->introspection_.get());
auto* introspection = impl->introspection_.get();
impl->traverseStages(
[impl](Stage& stage, int /*depth*/) {
stage.pimpl()->setIntrospection(impl->introspection_.get());
[introspection](Stage& stage, int /*depth*/) {
stage.pimpl()->setIntrospection(introspection);
return true;
},
1, UINT_MAX);
// first time publish task
if (impl->introspection_)
impl->introspection_->publishTaskDescription();
if (introspection)
introspection->publishTaskDescription();
}
bool Task::canCompute() const {

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@ -1,4 +1,5 @@
#include "models.h"
#include "stage_mockups.h"
#include <moveit/task_constructor/task.h>
#include <moveit/task_constructor/stages/move_to.h>
@ -156,6 +157,33 @@ TEST_F(PandaMoveTo, poseIKFrameAttachedSubframeTarget) {
EXPECT_ONE_SOLUTION;
}
// https://github.com/ros-planning/moveit_task_constructor/pull/371
TEST(Task, taskMoveConstructor) {
auto create_task = [] {
moveit::core::RobotModelConstPtr robot_model = getModel();
Task t("first");
t.setRobotModel(robot_model);
auto ref = new stages::FixedState("fixed");
auto scene = std::make_shared<planning_scene::PlanningScene>(t.getRobotModel());
ref->setState(scene);
t.add(Stage::pointer(ref));
t.add(std::make_unique<ConnectMockup>());
t.add(std::make_unique<MonitoringGeneratorMockup>(ref));
return t;
};
Task t;
t = create_task();
try {
t.init();
EXPECT_TRUE(t.plan(1));
} catch (const InitStageException& e) {
ADD_FAILURE() << "InitStageException:" << std::endl << e << t;
}
}
int main(int argc, char** argv) {
testing::InitGoogleTest(&argc, argv);
rclcpp::init(argc, argv);