Commit Graph

1003 Commits

Author SHA1 Message Date
Henning Kayser
37e2236f7f
Switch to Galactic CI jobs (#356) 2022-04-21 23:10:02 +03:00
Stephanie Eng
27672f8e2d
Update black version (#347) 2022-03-29 19:32:33 +02:00
Jafar Abdi
3a30e498bf
execute_task_solution_capability: check for canceling request before canceling the goal handle (#321) 2021-12-22 14:13:36 +01:00
Henning Kayser
98ced788c8
ROS 2 Migration (#170) 2021-11-26 12:59:31 +01:00
JafarAbdi
71a604cda0 Add ROS1 to ROS2 migration guide 2021-11-25 23:02:54 +03:00
JafarAbdi
a90eac5a78 Port demo to ROS2 2021-11-25 23:02:54 +03:00
JafarAbdi
29703d0d6a Port visualization to ROS2 2021-11-25 23:02:54 +03:00
JafarAbdi
d7ceaa01dd Port capabilities to ROS2 2021-11-25 23:02:54 +03:00
JafarAbdi
f21c8ccd35 Port core to ROS2 2021-11-25 23:02:51 +03:00
JafarAbdi
c62e7938aa Port rviz_marker_tools to ROS2 2021-11-23 23:10:02 +03:00
JafarAbdi
e095e501ec Port msgs to ROS2 2021-11-23 23:10:02 +03:00
JafarAbdi
5bb6596f2f Port github actions 2021-11-23 23:09:58 +03:00
Robert Haschke
ed459702bd Fix -Wsign-compare 2021-11-19 02:05:46 +01:00
v4hn
b675876d3b add debug logs to pruning code 2021-11-16 22:52:06 +01:00
JafarAbdi
2d775ffe28 GeneratorMockup: Add solutions_per_compute argument 2021-11-16 22:51:29 +01:00
Michael Görner
79869b856c
Merge pull request #304 from v4hn/pr-move-to-tests
Add MoveTo tests & make them pass
2021-11-12 23:14:57 +01:00
v4hn
3b835986e3 refactor logic to handle ik_frame
fallbacks and verification.
2021-11-12 14:02:46 +01:00
v4hn
f1fc447e3b establish utils namespace
leaves us a place to put free helper functions
2021-11-10 14:36:58 +01:00
v4hn
48959c6806 add compat header to cmake
previous oversight
2021-11-10 14:35:25 +01:00
v4hn
0f53db5f12 simplify parameter-free lambdas
I just didn't know the syntax was allowed
2021-11-10 13:33:26 +01:00
Robert Haschke
01d0cf9a13 Extend mtc_add_test() macro to handle rostest as well 2021-11-10 13:14:04 +01:00
v4hn
ef27a6eb22 ComputeIK supports attached-object ik frame 2021-11-10 13:14:04 +01:00
v4hn
e1216aa8ab MoveTo supports attached objects&subframes for ik frame 2021-11-10 13:14:04 +01:00
v4hn
aee76fee5e add move MoveTo tests
(partially disabled because broken)
2021-11-10 13:12:21 +01:00
v4hn
86fe752d43 InterpolationPlanner: implement simple IK-based solver for pose targets 2021-11-10 13:12:21 +01:00
v4hn
ef86799f27 add some tests for MoveTo 2021-11-10 13:12:21 +01:00
v4hn
dfe746b9bb FixedState: add optional scene in constructor 2021-11-10 13:12:21 +01:00
v4hn
e60a9793f1 fix test helper
never unload the plugin loader before the plugins (IK plugins here).
We don't have unrelated loaders in gtest executables, so the static should be fine.
2021-11-10 13:12:21 +01:00
Robert Haschke
d6f68f9254 Simplify code
We know that trajectory at least comprises the start state.
Thus, we don't need the sanity checks.
2021-11-10 12:11:39 +01:00
Robert Haschke
71fab0fbce Simplify allowCollisions(object, JMG) 2021-11-10 12:11:39 +01:00
Robert Haschke
aa54de0447
Gracefully handle execution_type (#307)
In moveit_resources 0.8.1 the arg execution_type was renamed to fake_execution_type.
To support both, Melodic and Noetic versions of moveit_resources, provide both name variants.
Additionally, disable  roslaunch's checking via pass_all_args="true".
2021-11-10 10:00:13 +01:00
Robert Haschke
9ca8f5a1e3 Improve CI
- Allow downloading of pre-commit + clang-tidy fixes
- Use clang compiler for clang-tidy job
- Adapt to improved lcov-action
2021-10-22 23:28:43 +02:00
Michael Görner
7ec874572c move to tf2_eigen everywhere (#301) 2021-10-18 23:34:29 +02:00
v4hn
55e30e26ce split off pruning tests
yes, most pruning happen along children of a serial container,
but children for many tests comprise a lot of other containers as well.

- migrated pruning tests from Connect to ConnectMockup (as the concrete implementation
is not relevant for them)

- added missing header to stage_mockups.h
2021-10-04 23:06:13 +02:00
v4hn
9428c83ba5 consolidate test base 2021-10-04 23:06:13 +02:00
Michael Görner
8b2ac94609
define core tests through macros (#299)
Maybe it makes sense to define this in an exported config,
but then why bother until someone needs it.
2021-10-04 22:27:34 +02:00
Michael Görner
e89c68ced0
Merge pull request #294 from v4hn/pr-fallbacks-split-tests
new set of fallback tests
2021-09-20 23:13:10 +02:00
Robert Haschke
9da3a8055e Optimize setStatus(): only escalate to parent interface at boundaries of a partial solution
In all other cases internalToExternalMap().find(s) will fail anyway.
2021-09-20 23:07:00 +02:00
v4hn
47d20984ae simplify test specification
before anyone starts copying from here...
2021-09-20 23:07:00 +02:00
v4hn
81ec8bb3aa demos: improve CMakeLists
- build pick_place_task as proper library as people (e.g. moveit_benchmark_suite) reuse it
2021-09-20 23:07:00 +02:00
v4hn
35560d897d DISABLED -> PRUNED
This makes the semantics much clearer as states can only be disabled by pruning.
2021-09-20 23:07:00 +02:00
v4hn
d143dd7076 simplify exception handling
This could have been done already back when `runCompute` was introduced.
Wrapping the calls in try/catch comes from the previous implementation directly
calling `compute()`.
2021-09-20 23:07:00 +02:00
v4hn
1e10aaccfd Connecting: add another ROS_DEBUG hint
These can facilitate debugging a lot for little overhead.
2021-09-20 23:07:00 +02:00
v4hn
40b00c61d2 DISABLED_FAILED -> FAILED
Failed states are *not* disabled, they just failed connecting (for now).
2021-09-20 23:07:00 +02:00
v4hn
3b9f6ee519 add todo 2021-09-20 23:07:00 +02:00
v4hn
dbfa7e2b8a disable currently failing tests
They will be enabled when the corresponding functionality is merged.
2021-09-20 15:11:13 +02:00
Robert Haschke
35dc037365 Add more fallback tests 2021-09-20 14:52:15 +02:00
Robert Haschke
4e0f295d1e Replace std::list<double>() with PredefinedCosts() 2021-09-20 14:50:13 +02:00
Robert Haschke
61496fecd3 Simplify tests by introducing EXPECT_COSTS() 2021-09-20 14:50:03 +02:00
v4hn
61399d6d23 fixup & extend fallback tests 2021-09-20 14:49:01 +02:00