Commit Graph

33 Commits

Author SHA1 Message Date
Sebastian Jahr
f4cd7d5b85
Enable parallel planning with PipelinePlanner (#450)
* Refactor pipeline planner

Make code readable

Re-order plan functions

Make usable with parallel planning

Enable configuring multiple pipelines

Add callbacks

Cleanup and documentation

Add API to set parallel planning callbacks and deprecate functions

Pass pipeline map by reference

Small clang-tidy fix

Update core/src/solvers/pipeline_planner.cpp

Co-authored-by: Sebastian Castro <4603398+sea-bass@users.noreply.github.com>

Update core/src/solvers/pipeline_planner.cpp

Format

Refactor to avoid calling .at(0) twice

Use no default stopping criteria

Update fallbacks_move demo

* Cleanup + address deprecation warnings

* Enabling optionally using a property defined pipeline planner map

* Address review

* Disable humble CI for ros2 branch

* Add pipeline planner unittests + some checks

* Add short comment
2023-10-04 15:20:10 +02:00
Robert Haschke
349e3c6c6c Merge branch master into ros2 2023-05-26 16:38:15 +02:00
Robert Haschke
397fc070ea Fix SolutionBase::fillMessage(): also write start_scene
This method was only doing half of the job, namely adding subsolutions
to the message fields. However, the start_scene was not yet written.
This was handled manually in some but not all callers.
To avoid this inconsistency, the new method toMsg() takes care of both
actions now, while the old fillMessage() method was renamed to appendTo().
2023-05-19 08:43:14 +02:00
Robert Haschke
08dc34c5b3
Use const reference instead of reference for ros::NodeHandle (#437) 2023-03-06 16:26:41 +01:00
Robert Haschke
db6d90ab69 CartesianPath: Deprecate redundant property setters 2023-02-17 22:37:49 +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
Jafar
615e8ef248
Replace rosparam_shortcuts with generate_parameter_library (#403) 2022-12-06 00:14:50 +03:00
Robert Haschke
9924dfe25f Merge branch master into ros2 2022-11-02 19:16:38 +01:00
Robert Haschke
28fb974adb Remove MoveIt compatibility code 2022-10-23 22:16:58 +02:00
JafarAbdi
d6284ea63c Remove macros to check supported features 2022-05-26 21:58:48 +00:00
JafarAbdi
11b81856d5 Merge d2918f130d 2022-05-26 21:58:24 +00:00
Stephanie Eng
d1fb6ace93
Fix parameter in ik_clearance_cost demo (#366) 2022-05-25 18:12:59 +03:00
Robert Haschke
c7b2067b86 Merge PR #309: Fix Pruning 2022-01-05 20:19:51 +01:00
Jafar Abdi
7dbe0b87e1
Return MoveItErrorCode from task::plan (#319)
... to know whether the plan failed due to timeout, preemption, or actual planning failure
2022-01-02 15:32:37 +01:00
JafarAbdi
a90eac5a78 Port demo to ROS2 2021-11-25 23:02:54 +03:00
v4hn
b6ac5b09ba add demo illustrating useful fallbacks behavior 2021-11-15 09:29:09 +01:00
Robert Haschke
71fab0fbce Simplify allowCollisions(object, JMG) 2021-11-10 12:11:39 +01:00
Michael Görner
ff4eb4edf1
Run pick+place demo as a unit test (#254) 2021-05-28 00:44:27 +02:00
v4hn
1f86f73c06 add two demos for cost computation aspects 2021-03-05 21:41:07 +01:00
Robert Haschke
b0b4db4bc5
Fix pick-place-demo: Correctly set hand group (#205) 2020-09-07 15:14:08 +02:00
v4hn
8faba159f9 clang-tidy: llvm-namespace-comment 2020-06-11 11:03:50 +02:00
v4hn
2153237643 clang-format: readability-identifier-naming
Probably the most invasive format patch, also changing some internal API.

I deliberately disabled ClassCase and MethodCase checks for the moment
to avoid public API changes in this patch set.
2020-06-11 11:03:50 +02:00
Robert Haschke
f1acfa2f7e
Merge pull request #151: Various fixes 2020-04-03 11:58:19 +02:00
Robert Haschke
718ad320c2 cartesian demo: illustrate merging of trajectories 2020-04-03 11:36:05 +02:00
Michael Görner
a9fbcac31f
planning_attempts -> max_solutions (#143)
The parameter describes the maximum number of found solutions before further planning is aborted.
2020-03-10 15:00:22 +01:00
Robert Haschke
bcc652b6e8 cleanup demo 2020-02-18 09:30:27 +01:00
Rajendra Singh
8588deb202 Printing success log only if execution completes
Previous code will print/log "Execution complete" even if the execution was disabled.
2020-02-05 13:18:33 +01:00
Rajendra Singh
de79dedbfc
Generalised code for object_name
Previous code was generating the error on changing object_name in config/panda_config.yaml file because of this bug as here we are overwriting the object_name as "object" which brought the inconsistency in code.
2020-01-16 19:05:53 +05:30
Robert Haschke
47a9929608 "cartesian" demo: add an example stage for relative joint-space offsets 2019-11-26 21:08:31 +01:00
Robert Haschke
a070524860 Enable infinite number of repetitions for "modular" demo
Using a joint-space interpolator to move back to start pose,
we avoid pose drift in the Cartesian loop, which pushes the robot
into its joint limits over time. Fixes #113.
2019-11-26 21:08:31 +01:00
Robert Haschke
ff297d2929 more tutorial demos 2019-11-02 22:05:58 +08:00
v4hn
6764b2a9ca demo: add 'execute' parameter
useful for testing parameters
2019-10-22 11:06:51 +02:00
simonGoldstein
232ef5e03e Demo package for tutorial (#104)
Co-Authored-By: Henning Kayser <henningkayser@picknik.ai>
Co-Authored-By: Robert Haschke <rhaschke@techfak.uni-bielefeld.de>
2019-10-08 17:30:45 +02:00