Commit Graph

950 Commits

Author SHA1 Message Date
v4hn
2bee9d5f66 rearrange fallback test fixtures 2021-09-20 14:42:35 +02:00
v4hn
5d9efc3b2b fallback tests: use fixture 2021-09-20 14:42:26 +02:00
v4hn
001eadaf3d move fallback to separate test 2021-09-20 14:42:20 +02:00
v4hn
14380c5552 add another test to cover both cases for failing children 2021-09-20 14:42:14 +02:00
v4hn
3244ac92b1 disable ConnectStageInsideFallbacks
This should work, but will require more changes.
2021-09-20 14:42:08 +02:00
Robert Haschke
c6cdd1a970 Fix test Fallback.ActiveChildReset 2021-09-20 14:41:51 +02:00
j-kuehn
f6eadb3fc4 add unit tests for Fallbacks container 2021-09-20 14:41:42 +02:00
Robert Haschke
d0ab3c3703
Improve readability of internal-external bimap using tags (#293) 2021-09-16 13:52:34 +02:00
Robert Haschke
639481726e
Update main scene node's pose on updates of robot's model frame (#292) 2021-09-15 15:09:43 +02:00
Michael Görner
4e3ff57926
switch CI ccov job to Debug build (#290)
To provide accurate coverage information.

It was originally RelWithDebInfo because MoveIt uses it
and Travis's timeout would kick in with the old setup.

According to Robert the timeout should not be a problem anymore with
the GHA ci setup. Actually I don't think the timeout was ever a problem for MTC,
but the config was just copied.
2021-09-06 23:05:29 +02:00
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
Robert Haschke
4aeab27ba3 Fix placement of Panel widget
Since #1611 and 41d62f5749b05c68131b752c605191518eaf19d5,
the floating argument for panels is correctly handled.
Here, we don't want the panel to be floating.
2021-06-11 09:52:17 +02:00
Robert Haschke
3457c91ff2 GHA: lsan.suppressions 2021-06-10 12:08:46 +02:00
Robert Haschke
5dacc85ff9 Fix warning: control reaches end of non-void function 2021-06-10 07:35:09 +02:00
v4hn
f95fcf17b4 include OGRE headers via SYSTEM 2021-06-08 12:17:16 +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
v4hn
924e733a42 use clang for clang-tidy job
And add warnings for gcc AND clang builds (as they can differ slightly).

Clang does not support -Wused-but-set-parameter yet, though
support is [on the way](https://reviews.llvm.org/D100581).
So this gets rid of this warning we see in CI:

> error: unknown warning option '-Wno-unused-but-set-parameter'; did you mean '-Wno-unused-parameter'?
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
Robert Haschke
dce740fdfe CI: fixup asan job
Need to preload libasan.so.5 for move_group node, because it loads a sanitized plugin.
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
Michael Görner
ff4eb4edf1
Run pick+place demo as a unit test (#254) 2021-05-28 00:44:27 +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
Robert Haschke
f5022cc1d4 GHA: check for warnings + address sanitizer 2021-05-27 22:24:23 +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
Robert Haschke
94ff53e11e Fix catkin_lint warning
include paths 'motion_planning_tasks/src' and 'motion_planning_tasks' are ambiguous
2021-05-19 17:10:50 +02:00
Robert Haschke
74ece5daf7 GHA: Fix coverage testing 2021-05-19 17:10:50 +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
Michael Görner
93d95e394f
Merge pull request #261 from ubi-agni/GHA
Switch to GitHub actions
2021-05-03 11:27:33 +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
181cc492d4 Fix catkin_lint errors 2021-04-23 23:49:50 +02:00
Robert Haschke
cc5f1ad934 Switch CI to GitHub Actions 2021-04-23 23:49:50 +02:00