Robert Haschke
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be314905a9
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fix realtime rviz display
In realtime mode, rviz display stopped with the last waypoint and didn't
show the final scene.
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2018-10-20 23:33:54 +02:00 |
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Robert Haschke
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c3078edc99
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use newly provided rviz::createMarker() function
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2018-10-20 23:33:03 +02:00 |
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Robert Haschke
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02ed4d3579
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Connect: verbose debugging output in case of state incompatibilities
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2018-10-20 23:32:43 +02:00 |
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Robert Haschke
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c6f985be3a
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Connect: allow different merge modes
for now:
SEQUENTIAL (no merging)
WAYPOINTS (naive)
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2018-10-20 23:32:43 +02:00 |
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Robert Haschke
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ba88c59201
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Merge pull request #54 from ros-planning/pr-capability
ExecuteTaskSolution capability
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2018-10-20 23:25:48 +02:00 |
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Robert Haschke
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1e39da2388
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fix stage "FixCollisionObjects"
... correction wasn't initialized to zero, resulting in random NaNs
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2018-10-20 22:59:27 +02:00 |
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Robert Haschke
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a0a9738a00
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update PlanningScene's RobotState before storing it
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2018-10-20 22:02:05 +02:00 |
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Robert Haschke
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e894d8bce2
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fix caching of PlanningPipeline ptrs
Need to reset cache if corresponding RobotModel was destroyed.
To this end, we cannot simply use the RobotModel's name.
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2018-10-20 21:50:05 +02:00 |
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Robert Haschke
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f548b7edcc
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PipelinePlanner: disable publishing of plan request + computed path
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2018-10-20 12:21:18 +02:00 |
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Robert Haschke
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36fe4c98be
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reduce copying of shared ptrs
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2018-10-20 12:21:18 +02:00 |
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Robert Haschke
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d648a4091e
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guard use of introspection_ pointer
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2018-10-20 02:38:11 +02:00 |
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Robert Haschke
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af6f7b12bf
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pick_pa10: fix initialization of RobotState
only a subset of joints was initialized
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2018-10-20 02:38:11 +02:00 |
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Robert Haschke
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e9b16ba7c0
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fix destruction order
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2018-10-20 02:38:11 +02:00 |
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Robert Haschke
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3ad03cf719
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generalize Property conversion between C++ and Python
register appropriate converters for boost::any
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2018-10-18 10:00:45 +02:00 |
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Robert Haschke
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14d10a2d93
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replace MessageSignature with simple ros-msg-name string
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2018-10-18 10:00:45 +02:00 |
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Robert Haschke
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c145b4c5f8
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better robustness against already registered boost::python type converters
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2018-10-18 10:00:45 +02:00 |
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Robert Haschke
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074a3b7f03
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RosMsgConverter: do not allow custom message name
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2018-10-18 10:00:45 +02:00 |
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Robert Haschke
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fdec258b2c
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ROSMsgConverter -> RosMsgConverter
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2018-10-18 10:00:45 +02:00 |
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Robert Haschke
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1b267768fa
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cleanup type conversion
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2018-10-18 10:00:45 +02:00 |
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Robert Haschke
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3786ce5a15
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protect fromPython / toPython
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2018-10-17 02:00:14 +02:00 |
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Robert Haschke
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5d78b10366
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fix compiler warnings
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2018-10-17 02:00:14 +02:00 |
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v4hn
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1a4f6c0e57
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keep RobotModelLoader around
Otherwise the robot_model_ does not remain valid
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2018-10-17 01:55:28 +02:00 |
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Robert Haschke
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a745f55ab7
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fix compiler warnings in release mode
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2018-10-17 01:55:28 +02:00 |
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Robert Haschke
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5bae196b21
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fixes for Bionic
boost::python 1.65 is more picky about exactly returning the placeholder type in __init__ functions.
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2018-10-17 01:18:39 +02:00 |
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Robert Haschke
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c9e735ded3
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fix API to match MoveTo / MoveRelative stages
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2018-10-17 01:18:39 +02:00 |
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Robert Haschke
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fbbb39592b
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allow PoseStamped as property
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2018-10-17 01:18:39 +02:00 |
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Martin Meier
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47232dd92b
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pass verbose InitStageException from C++ to python
reverts df43ba1d68bb5c628a8e8f13729e7cdda872f1f9
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2018-10-17 01:18:39 +02:00 |
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Robert Haschke
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effa437a53
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Solution.toMsg()
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2018-10-17 01:18:39 +02:00 |
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Robert Haschke
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14bd867df8
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expose MonitoringGenerator's setMonitoringStage()
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2018-10-17 01:18:39 +02:00 |
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Robert Haschke
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ef1bbaa439
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Task::init(): verbose exception output
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2018-10-17 01:18:39 +02:00 |
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Robert Haschke
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ea4b1e0c21
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Properties: exposeTo(), configureInitFrom()
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2018-10-17 01:18:39 +02:00 |
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Robert Haschke
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c80755348c
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moved python includes to global include folder too
catkin package expects all includes to be in one global location
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2018-10-17 01:18:39 +02:00 |
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Robert Haschke
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b36d91cc02
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import .core by default
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2018-10-17 01:18:39 +02:00 |
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janEbert
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3c77fd1325
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add reference test for properties
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2018-10-17 01:18:36 +02:00 |
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Robert Haschke
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4ac0b6e2c4
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merge fixes
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2018-10-16 23:22:10 +02:00 |
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Robert Haschke
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1787a66d37
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fix compiler warnings
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2018-10-16 23:14:58 +02:00 |
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Robert Haschke
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f1764d0de4
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fix tests
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2018-10-16 23:14:58 +02:00 |
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Robert Haschke
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940543a063
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fixup! allow preemption of Task::plan()
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2018-10-16 23:14:58 +02:00 |
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Robert Haschke
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60b3c4906a
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fixup! a move_group capability to execute Task Solutions
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2018-09-25 22:17:42 +02:00 |
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Robert Haschke
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f7a98ef2ff
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fix determination of JMG
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2018-09-25 22:17:42 +02:00 |
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Robert Haschke
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b5bc97b3eb
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Task::execute()
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2018-09-25 22:17:42 +02:00 |
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Robert Haschke
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99a7a9bc9a
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modified ExecuteTaskSolution.action
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2018-09-25 22:17:42 +02:00 |
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v4hn
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387fa5c087
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execute: apply effects through the PSM
We can bypass it too, but things are a bit cleaner this way.
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2018-09-25 22:17:42 +02:00 |
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v4hn
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725f57e7fd
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add effect description as debug output
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2018-09-25 22:17:42 +02:00 |
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v4hn
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73b7475cdb
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a move_group capability to execute Task Solutions
This does not work perfectly yet in practice,
but this is (probably) due to problems in upstream MoveIt.
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2018-09-25 22:17:42 +02:00 |
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Robert Haschke
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7bd9bcf972
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allow preemption of Task::plan()
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2018-09-25 22:16:45 +02:00 |
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Robert Haschke
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e5e291d86f
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FixCollisions stage
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2018-09-25 22:16:45 +02:00 |
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Robert Haschke
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a7b74673ce
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PlannerInterface for joint-space interpolation
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2018-09-25 22:16:45 +02:00 |
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Robert Haschke
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5920828b42
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fix cylinder markers
rviz' Marker expects scale.x/y to be diameter instead of radius
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2018-09-25 22:16:45 +02:00 |
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Robert Haschke
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4860462076
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ComputeIK: forward child solution's comment
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2018-09-25 16:25:22 +02:00 |
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