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
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Add MoveTo tests & make them pass
2021-11-12 23:14:57 +01:00
v4hn
3b835986e3
refactor logic to handle ik_frame
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fallbacks and verification.
2021-11-12 14:02:46 +01:00
v4hn
f1fc447e3b
establish utils namespace
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leaves us a place to put free helper functions
2021-11-10 14:36:58 +01:00
v4hn
48959c6806
add compat header to cmake
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previous oversight
2021-11-10 14:35:25 +01:00
v4hn
0f53db5f12
simplify parameter-free lambdas
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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
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(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
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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
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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 )
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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
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- 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
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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 )
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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
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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
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In all other cases internalToExternalMap().find(s) will fail anyway.
2021-09-20 23:07:00 +02:00
v4hn
47d20984ae
simplify test specification
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before anyone starts copying from here...
2021-09-20 23:07:00 +02:00
v4hn
81ec8bb3aa
demos: improve CMakeLists
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- 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
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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
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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
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These can facilitate debugging a lot for little overhead.
2021-09-20 23:07:00 +02:00
v4hn
40b00c61d2
DISABLED_FAILED -> FAILED
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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
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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