Commit Graph

1483 Commits

Author SHA1 Message Date
Robert Haschke
1002d84946 Add python binding for Task::insert 2023-05-04 23:22:49 +02:00
Robert Haschke
d1a6916206
Stage::explainFailure() (#445)
... to facilitate spotting the stage causing a task to fail
2023-05-04 17:07:11 +02:00
Robert Haschke
ede7cb71cc
Improve documentation (#431)
* Improve general description of stage and container types
* Clarify purpose of `CurrentState` stage
* Add troubleshooting section
2023-05-04 17:02:00 +02:00
Robert Haschke
7f10292ab3
JointInterpolationPlanner: pass optional max_effort property along to GripperCommand (#458)
MoveIt passes the effort field of the last trajectory point as the max_effort for a GripperCommand.
Thus we pass the max_effort property to the effort field of the trajectory's last waypoint.
2023-05-04 15:29:53 +02:00
Robert Haschke
b346e7eb78
Task: findChild() and operator[] should directly operate on stages() (#435)
Considering the (fixed) name of the top-level container is meaningless.
2023-05-04 15:23:23 +02:00
Robert Haschke
f07b81fcd0 cleanup 2023-05-04 14:26:34 +02:00
Mario Prats
a0befc5b75
Remove redundant semicolon to silent compiler warning (#448) 2023-03-22 15:15:13 +01:00
Robert Haschke
4781ed5636 ros1-0.1.3 2023-03-06 16:37:54 +01:00
Robert Haschke
c57a0bcc12 Fixup: Remove moveit/__init__.py during .deb build
Fix install path recognition (6671aedeb7). Debian install process targets:
/tmp/binarydeb/ros-noetic-moveit-task-constructor-core-<version>/debian/ros-noetic-moveit-task-constructor-core/opt/ros/noetic/lib/python3/dist-packages/moveit
2023-03-06 16:31:59 +01:00
Robert Haschke
75e4260e2a
MoveRelative: Allow backwards operation for joint-space delta (#436) 2023-03-06 16:27:09 +01:00
Robert Haschke
08dc34c5b3
Use const reference instead of reference for ros::NodeHandle (#437) 2023-03-06 16:26:41 +01:00
Robert Haschke
61bb2fdc58
ComputeIK: Limit collision checking to JMG (#428)
That's what MoveIt is doing as well.
2023-02-28 13:18:53 +01:00
Robert Haschke
a3cb8c6584 Fix: Fetch pybind11 submodule if not yet present
cmake's execute_process pipes COMMANDs together.
Thus, `git submodule update` received the output of `git submodule init` as input
and didn't do anything.
2023-02-28 11:15:05 +01:00
Robert Haschke
ca1c7c7e24 Fix typo 2023-02-28 11:13:24 +01:00
Robert Haschke
d07aece163 ros1-0.1.2 2023-02-24 00:02:47 +01:00
Robert Haschke
6671aedeb7 Remove moveit/__init__.py during .deb builds 2023-02-23 23:55:38 +01:00
Robert Haschke
4a320f309c
Merge PR #429: MultiPlanner
MultiPlanner
2023-02-23 20:44:28 +01:00
Robert Haschke
ea776e35f6
Fix marker creation: allow zero scale for geometric shapes (#430)
Boxes, spheres, and cylinders might explicitly have a zero size. Don't reset their scaling to (1,1,1)
2023-02-23 20:42:23 +01:00
Robert Haschke
db6d90ab69 CartesianPath: Deprecate redundant property setters 2023-02-17 22:37:49 +01:00
Peter David Fagan
5c308d1f28
remove underscore from public members in MotionPlanResponse (#426)
Required to align with changes introduced by https://github.com/ros-planning/moveit2/pull/1939

Co-authored-by: JafarAbdi <cafer.abdi@gmail.com>
2023-02-17 21:11:02 +01:00
Robert Haschke
6dc70b1d49 PlannerInterface: provide "timeout" property
The MultiPlanner requires to set individual timeouts for its planners.
2023-02-17 18:28:02 +01:00
Robert Haschke
573858e51a PlannerInterface: provide setters for properties 2023-02-17 17:33:06 +01:00
Robert Haschke
052a56a333 Add MultiPlanner solvers
a planner that tries multiple planners in sequence
2023-02-17 17:33:06 +01:00
Robert Haschke
3d3236575d JointInterpolation: fix timeout handling
The timeout parameter was essentially ignored and the check was always true.
2023-02-17 11:41:32 +01:00
Robert Haschke
eae0bdc27f ros1-0.1.1 2023-02-15 23:20:32 +01:00
Robert Haschke
7926f69e97 Provide ComputeIK.ik_frame as full PoseStamped
Released MoveIt doesn't (yet) provide a conversion from string to PoseStamped.
2023-02-15 17:05:25 +01:00
Robert Haschke
885ac49ffb Use MoveIt's roscpp_initialize 2023-02-15 17:05:25 +01:00
Robert Haschke
d95a2fc787 Use MoveIt's libmoveit_python_tools.so
Drop our own version of that lib and thus resolve a deploy conflict.
2023-02-15 14:30:14 +01:00
Robert Haschke
ca5716a5c3 CI: Add prerelease workflow
Add missing test dependency
2023-02-13 15:49:39 +01:00
Robert Haschke
3b05949be9 pick_place_task: monitor last state before Connect
... to prune solutions as much as possible
2023-02-13 15:08:30 +01:00
Robert Haschke
4b5de15e1b Remove unused eigen_conversions includes 2023-02-11 13:47:35 +01:00
Robert Haschke
f2d97e524d Fix odr compiler warning on build farm
https://build.ros.org/job/Ndev_db__moveit_task_constructor__debian_buster_amd64/3
2023-02-11 13:31:50 +01:00
Michael Görner
f921553fa4
revert to upstream pybind repository (#424)
Robert's fork is not required anymore.
However, we can't forward to the current branch head
because it breaks python2 support.
2023-02-06 14:35:13 +01:00
Robert Haschke
2843459b34 Fix buildfarm errors
- Add missing package dependencies
- Add author tags to package.xml
2023-02-03 12:24:48 +01:00
Robert Haschke
293898690e Merge branch 'master' into ros2 2023-02-02 10:32:21 +01:00
Robert Haschke
49b3bd0d56 ros1-0.1.0 2023-02-02 10:02:45 +01:00
JafarAbdi
b62ab8542c CI: Switch from ghcr.io to dockerhub 2023-02-02 09:47:31 +01:00
Robert Haschke
93b46ef214 GeneratePose: forward registered properties from received solution 2023-01-28 12:01:45 +01:00
Jochen Sprickerhof
02704cf0cf
Add missing dependency (#417)
Fixup for b54f53e
2023-01-06 11:49:22 +01:00
Robert Haschke
9c13a9cd1e Silent external clang-tidy warning 2023-01-05 16:54:46 +01:00
Robert Haschke
16af904e05 Silent googletest warnings 2023-01-05 16:54:46 +01:00
Robert Haschke
031da95894 Disable python wrapper for now
The ROS1 wrapper relied on python <-> c++ type casting via message serialization.
A corresponding mechanism doesn't yet exist in ROS2:
- https://answers.ros.org/question/356542/ros2-message-serialization-adapting-types/
- https://github.com/ros2/rclpy/issues/291#issuecomment-476314923
2023-01-05 16:54:46 +01:00
Robert Haschke
b54f53eb98 Rely on CXXFLAGS definition from moveit_common package 2023-01-05 16:54:46 +01:00
Robert Haschke
b3d20cdcec Merge branch 'master' into ros2 2023-01-05 16:54:41 +01:00
Robert Haschke
d9cff5510f Fix more -Wold-style-cast warnings 2023-01-05 16:24:02 +01:00
Robert Haschke
bd3a7d10a2 Fix name of test artifact 2023-01-05 12:43:58 +01:00
Robert Haschke
6362d8ec11 CI: Reorder steps 2023-01-05 12:43:02 +01:00
Robert Haschke
54579ca227 fixup! Fix clang-tidy warnings 2023-01-05 12:32:12 +01:00
Robert Haschke
91d9518d3c Replace namespace robot_model -> moveit::core 2023-01-05 03:14:11 +01:00
JafarAbdi
f055fabbd1 Fix clang-tidy warnings
- Replace old-style casts
- Fix missing initialization
2023-01-04 23:52:38 +01:00