Commit Graph

911 Commits

Author SHA1 Message Date
Robert Haschke
be314905a9 fix realtime rviz display
In realtime mode, rviz display stopped with the last waypoint and didn't
show the final scene.
2018-10-20 23:33:54 +02:00
Robert Haschke
c3078edc99 use newly provided rviz::createMarker() function 2018-10-20 23:33:03 +02:00
Robert Haschke
02ed4d3579 Connect: verbose debugging output in case of state incompatibilities 2018-10-20 23:32:43 +02:00
Robert Haschke
c6f985be3a Connect: allow different merge modes
for now:
SEQUENTIAL (no merging)
WAYPOINTS (naive)
2018-10-20 23:32:43 +02:00
Robert Haschke
ba88c59201
Merge pull request #54 from ros-planning/pr-capability
ExecuteTaskSolution capability
2018-10-20 23:25:48 +02:00
Robert Haschke
1e39da2388 fix stage "FixCollisionObjects"
... correction wasn't initialized to zero, resulting in random NaNs
2018-10-20 22:59:27 +02:00
Robert Haschke
a0a9738a00 update PlanningScene's RobotState before storing it 2018-10-20 22:02:05 +02:00
Robert Haschke
e894d8bce2 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.
2018-10-20 21:50:05 +02:00
Robert Haschke
f548b7edcc PipelinePlanner: disable publishing of plan request + computed path 2018-10-20 12:21:18 +02:00
Robert Haschke
36fe4c98be reduce copying of shared ptrs 2018-10-20 12:21:18 +02:00
Robert Haschke
d648a4091e guard use of introspection_ pointer 2018-10-20 02:38:11 +02:00
Robert Haschke
af6f7b12bf pick_pa10: fix initialization of RobotState
only a subset of joints was initialized
2018-10-20 02:38:11 +02:00
Robert Haschke
e9b16ba7c0 fix destruction order 2018-10-20 02:38:11 +02:00
Robert Haschke
3ad03cf719 generalize Property conversion between C++ and Python
register appropriate converters for boost::any
2018-10-18 10:00:45 +02:00
Robert Haschke
14d10a2d93 replace MessageSignature with simple ros-msg-name string 2018-10-18 10:00:45 +02:00
Robert Haschke
c145b4c5f8 better robustness against already registered boost::python type converters 2018-10-18 10:00:45 +02:00
Robert Haschke
074a3b7f03 RosMsgConverter: do not allow custom message name 2018-10-18 10:00:45 +02:00
Robert Haschke
fdec258b2c ROSMsgConverter -> RosMsgConverter 2018-10-18 10:00:45 +02:00
Robert Haschke
1b267768fa cleanup type conversion 2018-10-18 10:00:45 +02:00
Robert Haschke
3786ce5a15 protect fromPython / toPython 2018-10-17 02:00:14 +02:00
Robert Haschke
5d78b10366 fix compiler warnings 2018-10-17 02:00:14 +02:00
v4hn
1a4f6c0e57 keep RobotModelLoader around
Otherwise the robot_model_ does not remain valid
2018-10-17 01:55:28 +02:00
Robert Haschke
a745f55ab7 fix compiler warnings in release mode 2018-10-17 01:55:28 +02:00
Robert Haschke
5bae196b21 fixes for Bionic
boost::python 1.65 is more picky about exactly returning the placeholder type in __init__ functions.
2018-10-17 01:18:39 +02:00
Robert Haschke
c9e735ded3 fix API to match MoveTo / MoveRelative stages 2018-10-17 01:18:39 +02:00
Robert Haschke
fbbb39592b allow PoseStamped as property 2018-10-17 01:18:39 +02:00
Martin Meier
47232dd92b pass verbose InitStageException from C++ to python
reverts df43ba1d68bb5c628a8e8f13729e7cdda872f1f9
2018-10-17 01:18:39 +02:00
Robert Haschke
effa437a53 Solution.toMsg() 2018-10-17 01:18:39 +02:00
Robert Haschke
14bd867df8 expose MonitoringGenerator's setMonitoringStage() 2018-10-17 01:18:39 +02:00
Robert Haschke
ef1bbaa439 Task::init(): verbose exception output 2018-10-17 01:18:39 +02:00
Robert Haschke
ea4b1e0c21 Properties: exposeTo(), configureInitFrom() 2018-10-17 01:18:39 +02:00
Robert Haschke
c80755348c moved python includes to global include folder too
catkin package expects all includes to be in one global location
2018-10-17 01:18:39 +02:00
Robert Haschke
b36d91cc02 import .core by default 2018-10-17 01:18:39 +02:00
janEbert
3c77fd1325 add reference test for properties 2018-10-17 01:18:36 +02:00
Robert Haschke
4ac0b6e2c4 merge fixes 2018-10-16 23:22:10 +02:00
Robert Haschke
1787a66d37 fix compiler warnings 2018-10-16 23:14:58 +02:00
Robert Haschke
f1764d0de4 fix tests 2018-10-16 23:14:58 +02:00
Robert Haschke
940543a063 fixup! allow preemption of Task::plan() 2018-10-16 23:14:58 +02:00
Robert Haschke
60b3c4906a fixup! a move_group capability to execute Task Solutions 2018-09-25 22:17:42 +02:00
Robert Haschke
f7a98ef2ff fix determination of JMG 2018-09-25 22:17:42 +02:00
Robert Haschke
b5bc97b3eb Task::execute() 2018-09-25 22:17:42 +02:00
Robert Haschke
99a7a9bc9a modified ExecuteTaskSolution.action 2018-09-25 22:17:42 +02:00
v4hn
387fa5c087 execute: apply effects through the PSM
We can bypass it too, but things are a bit cleaner this way.
2018-09-25 22:17:42 +02:00
v4hn
725f57e7fd add effect description as debug output 2018-09-25 22:17:42 +02:00
v4hn
73b7475cdb 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.
2018-09-25 22:17:42 +02:00
Robert Haschke
7bd9bcf972 allow preemption of Task::plan() 2018-09-25 22:16:45 +02:00
Robert Haschke
e5e291d86f FixCollisions stage 2018-09-25 22:16:45 +02:00
Robert Haschke
a7b74673ce PlannerInterface for joint-space interpolation 2018-09-25 22:16:45 +02:00
Robert Haschke
5920828b42 fix cylinder markers
rviz' Marker expects scale.x/y to be diameter instead of radius
2018-09-25 22:16:45 +02:00
Robert Haschke
4860462076 ComputeIK: forward child solution's comment 2018-09-25 16:25:22 +02:00