Commit Graph

641 Commits

Author SHA1 Message Date
v4hn
06b3df9c30 split assert
so that it becomes obvious which condition triggered it.
2021-09-01 14:53:52 +02:00
v4hn
fa8d21741c print debug message in runCompute
so that it prints from all containers
2021-09-01 14:53:14 +02:00
v4hn
f51f6eb982 address interface changes for object poses in MoveIt
Also include a check for the new object pose field in `Connecting::compatible()`.
2021-08-23 00:33:37 +02:00
v4hn
0273aec83e remove dirty MOVEIT_MASTER-check
... in favor of checking version numbers.
Checking for one header was used for multiple independent things.
In theory we could do exact feature testing instead of using the next release number,
but in practice nobody cares about the individual commits between older releases.
2021-08-23 00:06:42 +02:00
v4hn
6b4eae9d51 ComputeIK: spawn failures with correct states
Otherwise all failures look correct in the introspection.

That was a stupid oversight at some point.
2021-08-21 22:15:21 +02:00
v4hn
ff86217f9a do not modify scene in isTargetPoseColliding
Especially, do not create a custom scene at all.
The method only affects a RobotState.

Fixes https://github.com/ros-planning/moveit_task_constructor/issues/209
2021-08-21 22:15:12 +02:00
v4hn
74d33c4ec0 Merge different mockup implementations
Co-authored-by: Jascha Kühn <57101356+j-kuehn@users.noreply.github.com>
2021-07-07 14:25:42 +02:00
v4hn
4b1f240c21 test_container: correctly initialize robot_model
The local mocks do not care, but leaving a dangling nullptr
leads to segfaults with refactoring/new tests. :-)
2021-07-07 14:25:42 +02:00
v4hn
062c127b86 better API comments for StageCallback 2021-06-15 09:49:05 +02:00
Captain Yoshi
64b65e4eca
GenerateGraspPose: Handle RobotState.msg as pregrasp property (#275)
Co-authored-by: v4hn <me@v4hn.de>
2021-06-15 07:51:18 +02:00
v4hn
0e40b464ec support TYPED_TEST_SUITE
Get rid of deprecation warning if new variant exists.
2021-06-04 14:19:52 +02:00
v4hn
1f51124ae5 add missing virtual destructor to CostTerm
Correctly pointed out by the clang-tidy CI.
2021-06-04 14:19:52 +02:00
v4hn
9d53987e53 satisfy clang-tidy & -Werror -Wall -Wextra 2021-06-04 14:19:52 +02:00
Robert Haschke
437cc550f2 Add missing semicolons after cleanup of MoveIt 2021-05-29 00:38:43 +02:00
Michael Görner
84d668b0d5
Split ClassLoader plugin code from main libraries (#271)
to work around https://github.com/ros/class_loader/issues/131
2021-05-29 00:38:02 +02:00
v4hn
059a939203 Fix test: correctly reset Interface 2021-05-28 00:20:07 +02:00
v4hn
58b1a020b5 Fix memory leak in unit test 2021-05-28 00:19:45 +02:00
Robert Haschke
f070247a25 Fix compiler warnings 2021-05-27 22:24:29 +02:00
j-kuehn
67fe4faa30 allow to consider specific joints only in cost terms 2021-05-25 15:47:18 +02:00
Robert Haschke
84ccd679d9 Fix compiler warnings
unused parameters and functions
2021-05-19 21:54:48 +02:00
v4hn
7eb8fad57e remove unused helper method 2021-05-12 19:21:19 +02:00
v4hn
f7015ee021 fix pick_ur5 test
TAMS' models changed and often produces less solutions.
2021-05-12 19:21:19 +02:00
j-kuehn
d71c645d83
add visualization for Point goals (#264)
- move visualization from `getPoseGoal` to `compute`
- create target frame from `target_eigen` to allow visualization from Pose and Point goals
2021-05-11 10:53:15 +02:00
j-kuehn
ba0b4f6146
Improve arrow visualization for MoveRelative stage (#255)
Implement visualization as red-green arrow
* overload makeArrow to allow creation with points
* create new function for visualization
* if no plan is found, construct arrow from green cylinder and red arrow
* adjust arrow construction for backward propagators
2021-05-03 21:29:05 +02:00
Robert Haschke
cfcb1f274e Fix more clang-tidy issues 2021-04-24 02:12:24 +02:00
Robert Haschke
4fa8c10f44 clang-tidy auto-fixes 2021-04-24 02:03:24 +02:00
Robert Haschke
889b61529b Fix trailing white space 2021-04-23 23:49:50 +02:00
Robert Haschke
dc8cd34b86 Simplify tests 2021-04-01 00:21:07 +02:00
v4hn
4e09d78239 Implement pruning inside-to-outside of a container
- Remove public onNewFailure() interface
  Moved to ContainerBasePrivate to reuse logic for serial and parallel containers.
- Add tests
2021-04-01 00:19:15 +02:00
v4hn
472a78800d implement bimap for internal_external state map
Get hashing for inverted lookups, but incur
structural overhead.

Whether this is worth it depends on the number of mapped interface states
and the number of pruning/reactivation requests.
2021-03-30 15:19:49 +02:00
Robert Haschke
0e3ec0b6ec fix constness 2021-03-30 15:19:49 +02:00
v4hn
106c138ef5 Implement pruning inside serial container
By inefficient inverse lookup.

Also add disabled test for the inverted inference (failure inside should prune outside)
2021-03-30 15:19:49 +02:00
Michael Görner
36d9d3e8c0
Rework PipelinePlanner creation (#249)
- Moved Task::createPlanner into PipelinePlanner::create
- Handle mutiple planner pipeline configs as introduced in https://github.com/ros-planning/moveit/pull/2127
2021-03-29 12:00:28 +02:00
Robert Haschke
4ee71881ae
Rework Pruning (#221) 2021-03-23 13:04:38 +01:00
Michael Görner
f2958a4a0b
Explicitly instantiate PropagatingEitherWay::send<> templates (#246)
Otherwise compiler was optimizing (inlining) them away.
2021-03-23 11:37:30 +01:00
v4hn
b7f80939ef add more asserts to onNewSolution
Strictly speaking there is no need for the invariant,
but if something violates it a stage computed something it wasn't meant to.
2021-03-22 14:42:23 +01:00
v4hn
3b6c13e26b only run propagators on enabled solutions
resolve simple pruning test
2021-03-22 14:42:23 +01:00
v4hn
3e5e1da429 add (failing) simple pruning test
to validate propagators do not compute disabled solutions.
It's also good to have a simpler test around than 2 connects.
2021-03-22 14:42:23 +01:00
v4hn
9cf3c01b9a pruning tests: restructure tests 2021-03-22 14:42:23 +01:00
v4hn
be1c8292b5 add more (commented-out) debug statements
Also print generator symbol for completeness.
2021-03-22 14:42:23 +01:00
v4hn
e33962364d resolve PruningMultiForward test
Every InterfaceState along the partial solution has to be disabled
for pruning, not just the ends that are currently relevant.
2021-03-22 14:42:23 +01:00
v4hn
f8f885966e add failing pruning test for branching propagator 2021-03-22 14:42:23 +01:00
v4hn
a82b88355e streamline trait parameters
state asked for a reference, but trajectories for a pointer.
2021-03-22 14:42:23 +01:00
v4hn
bca01e8aa7 rename Status values
Start and End are already used for an entirely different concept,
so if anyone ever wants to read this code, we should use new terms instead.

Because the source state is the disabled state that *failed* to extend,
triggering the whole subtree to be disabled, I went for the new terms
DISABLED and DISABLED_FAILED.
2021-03-22 14:42:23 +01:00
Robert Haschke
c0100ff775 Remove debug output 2021-03-22 14:42:23 +01:00
Robert Haschke
d3864596b6 Replace Priority::enabled() with status()
The key to pruning in the Connecting stage was the following:
- Don't remove states during pruning, but only disable them.
  They might become re-enabled due to further input.
- Distinguish START and END sides of a disabled solution tree to break their symmetry.
  The START side from where we started disabling, can be re-enabled by a new partner state in
  Connecting, the END side must not. This was important as, otherwise, the states would simply
  get re-enabled immediately. The END side only gets re-enabled if the START side actually
  connects the whole solution branch.
2021-03-22 14:42:23 +01:00
Robert Haschke
f229743024 Debug evolution of interfaces 2021-03-22 14:42:23 +01:00
Robert Haschke
9466517f72 operator<< for Interface + Priority
Co-authored by v4hn
2021-03-22 14:42:23 +01:00
Robert Haschke
7c6eb1c0f3 Extend unit tests: PruningForward + PruningBackward 2021-03-22 14:42:23 +01:00
Robert Haschke
604a0da1e4 Actually implement pruning and re-enabling of states 2021-03-22 14:42:23 +01:00
Robert Haschke
19484cec64 Restore pruning
If a stage fails to find a solution, this often implies that further planning
on the open end(s) of connected InterfaceStates is not needed anymore.
Thus the InterfaceStates along all connected solution paths will be marked as disabled.
They are not removed from the pending state lists though, because they might get
reactivated by solutions found in future.

To this end, we introduced the method ContainerBase::onNewFailure().
2021-03-22 14:42:23 +01:00
Robert Haschke
6c18e2b482 test comparison of ConnectingPrivate's StatePairs 2021-03-22 14:42:23 +01:00
Robert Haschke
2a09daa42f InterfaceState::Priority::enabled()
To allow pruning, we need to enable and disable InterfaceStates to be considered for further
planning. In the past, we just indicated the disabled status with infinite costs.
However, because we might need to re-enable states (with previous state),
we need to separate these two concepts.
2021-03-22 14:42:23 +01:00
Robert Haschke
10f6b7a58e MoveTo/MoveRel: reduce code duplication
... using templated versions for computeForward + computeBackward
as they essentially perform the same operations.
2021-03-19 18:22:04 +01:00
Robert Haschke
dfffd77eee MoveTo/MoveRel: Report errors via solution comments instead of ROS_WARN 2021-03-19 18:22:04 +01:00
Robert Haschke
5de9ce7203 Perform clang-format check via github action from pre-commit.com 2021-03-15 14:29:19 +01:00
Robert Haschke
0b63c590c5 Replace MoveIt! -> MoveIt 2021-03-15 14:29:19 +01:00
v4hn
3d8faea079 add test to validate correct solution state in computeCost
This is somewhat cumbersome because of the additional internal/external
layer introduced through the container.
But it's still better than leaving this unverified.
2021-03-05 14:38:29 +01:00
v4hn
f4fb8c6f71 fix computeCost interface (again)
Fixes the missing creator pointer introduced in a6a23d3775
2021-03-05 14:38:23 +01:00
v4hn
629d266fbc remove leftover joint counting
Not used anywhere
2021-03-05 14:38:14 +01:00
v4hn
f7a94956c3 output stream formatting for InterfaceState::Priority 2021-03-05 14:38:06 +01:00
Robert Haschke
a6fa45214f Remove return value from Container::insert
adapted Container::add

Logical consequence of removing the ROS_ERROR output in `setParent`
2021-02-24 12:22:38 +01:00
v4hn
4386d0cc60 remove roscpp as an export dependency for the core package
We do use ROS in the background. But there is no need for a public export dependency on it.

This patch also resolves the following catkin_lint issue:

moveit_task_constructor_core: CMakeLists.txt(17): error: package 'roscpp' must be in CATKIN_DEPENDS in catkin_package()
2021-02-24 12:22:38 +01:00
Robert Haschke
f2d2cf10f0 Fallback: Correctly end iterating children
Fixes #234
2021-02-17 21:17:05 +01:00
Robert Haschke
f99d03386a
Use RobotModelBuilder to simplify tests (#225)
* Simplify RobotModel definition using RobotModelBuilder
* Silent RobotModel errors once in models.cpp
2020-12-30 11:07:57 +01:00
Jafar Abdi
8a913d8bf3
getTaskId(): Replace '-' in hostname with '_' (#223) 2020-12-15 20:39:01 +01:00
Robert Haschke
9f18219993 minor cleanups
* unify usage of pimpl()
* fix StatePair constructors
* improve/add comments
* test_container: reset MOCK_ID for each test to facilitate identification of stages
2020-12-06 23:55:58 +01:00
Robert Haschke
0925031a81 Propagating: disable infeasible state pruning
Because stages might get re-enabled later, we must not throw them away.
Remove dropFailedStarts(), dropFailedEnds().
Extend Pruning unittest.
2020-12-06 23:55:10 +01:00
Robert Haschke
a6a23d3775 Remove set[Start|End]StateUnsafe
These methods were introduced to temporarily set meaningful states for cost calculation
w/o connecting the solution to these temporary states (to solve a chicken-egg problem).
This commit provides TmpInterfaceStateProvider as an alternative approach to this problem.

This essentially reverts 53c0964618.
2020-12-06 04:11:35 +01:00
Robert Haschke
c8e75ab205 Simplify SolutionCollector 2020-12-06 04:11:35 +01:00
Robert Haschke
576a1aa48d Remove default constructor for Priority
It's better to explicitly state the initial value.
2020-12-06 04:11:35 +01:00
Robert Haschke
56ad37d80e Provide move constructor for InterfaceState
The code was tuned to move InterfaceStates around, but there wasn't the matching constructor!
2020-12-06 04:11:35 +01:00
Robert Haschke
bc25c5e3c1 Modernize: require cmake version 3.1.3 2020-12-06 04:11:35 +01:00
Robert Haschke
5d4cf640ef Fix issues #182 + #218 2020-12-06 04:10:47 +01:00
Robert Haschke
a9cd4e3281 Connect: Decouple subsolutions of SolutionSequence from external interface states 2020-12-06 04:09:59 +01:00
Robert Haschke
f05b08fa8a SerialContainer: Simplify solution traversal
Compute depth + accumulated cost of a partial solution sequence using InterfaceState::Priority.
2020-12-06 04:09:59 +01:00
Robert Haschke
11647fd3e5 Connect: mark failures in sub solutions of a sequence 2020-12-06 04:09:59 +01:00
Robert Haschke
c73c0c3555 Interface::updatePriority(): only allow decrease 2020-12-06 04:06:08 +01:00
Robert Haschke
08dc19f7b3 Fix cost calculation
The default CostTerm should rely on precomputed costs. Only, if a CostTerm is explicitly defined
for a particular stage, it should modify costs.
2020-12-06 04:06:08 +01:00
Robert Haschke
66fdff9711 Simplify state priority updates
Only need to update the end points of a partial solution.
2020-12-06 04:06:08 +01:00
Robert Haschke
5fd98ce307 SerialContainer tests 2020-12-06 04:06:08 +01:00
Robert Haschke
fe189cd692 Test Interface::updatePriority() 2020-12-06 04:06:08 +01:00
Robert Haschke
bfa2a6070d MoveTo: Publish failed planning attempts 2020-10-30 00:44:51 +01:00
Robert Haschke
ae843a784e Merge PR #214 (fix various issues) and #215 (rework rviz introspection) 2020-10-24 04:45:53 +02:00
Robert Haschke
cf5031e89d Create task-specific ServiceClients to fetch solutions
This finally allows to have multiple tasks publishing in the same namespace.
2020-10-24 04:43:30 +02:00
Robert Haschke
b91d87c6eb IntroSpection: indicateReset() on disable 2020-10-24 04:43:30 +02:00
Robert Haschke
8b1c66c4b7 Allow naming a Task
which just names the top-level container
2020-10-24 04:43:30 +02:00
Robert Haschke
c471879b08 Rename process_id -> task_id 2020-10-24 04:43:30 +02:00
Robert Haschke
b071a059f9 Rename TaskPrivate::id -> TaskPrivate::ns
TaskPrivate's id_ actually served as a namespace parameter.
2020-10-24 04:43:30 +02:00
Robert Haschke
3a7a4eb953 Connect: Fix segfault when accessing solutions from multiple plan() calls
Connect::init() was resetting its dynamically created JMG merged_jmg_,
thus invalidating all previous solutions. Only reset the JMG in reset().
2020-10-24 03:23:19 +02:00
Robert Haschke
cb0f20cad7 Improve task unittests 2020-10-24 03:22:46 +02:00
Jafar Abdi
be270cb574
Task: Add ability to set timeout (#213)
Task::setTimeout will allow setting an overall timeout.
2020-10-24 03:22:05 +02:00
Robert Haschke
d3b878a31c Fix issues with Merger stage 2020-09-23 08:00:42 +02:00
Robert Haschke
88c217e9a6 Report exceptions (e.g. config issues) 2020-09-23 07:59:39 +02:00
Robert Haschke
7499f7b297 Report merge failures 2020-09-23 07:59:39 +02:00
Robert Haschke
14fc3d2586 Reject failures early 2020-09-23 07:59:39 +02:00
Robert Haschke
8152994e52 Fix interface resolution 2020-09-22 10:57:49 +02:00
Robert Haschke
4089d5eefa Container::remove(): return removed Stage 2020-09-22 10:56:11 +02:00
Robert Haschke
198f8f5389 clearer naming of cost variables 2020-09-21 22:52:19 +02:00
v4hn
04a8afb16c melodic compatibility 2020-09-21 22:52:19 +02:00