Commit Graph

923 Commits

Author SHA1 Message Date
Robert Haschke
3c286b2226 Augment license/disclaimer 2021-05-19 23:04:44 +02:00
Robert Haschke
f006ff7a37 Allow casting of PoseStamped from string 2021-05-19 23:04:44 +02:00
Robert Haschke
a204d94a19 Configure namespace package 2021-03-31 00:19:51 +02:00
Robert Haschke
5b4ca1d21a Rename wrapper -> bindings 2021-03-31 00:19:51 +02:00
Robert Haschke
045b358c30 rosdoc_lite configuration 2021-03-31 00:19:51 +02:00
Robert Haschke
3cf92442fb Simplify generation of pybind11 modules
* Install module libs into CATKIN_GLOBAL_PYTHON_DESTINATION (assuming unique names).
  This avoids the need to link them into the source space, because they are found also from devel space.
* Use pybind11's def_submodule() to create the `core` and `stages` submodules,
  everything linked into the same lib
2021-03-31 00:19:51 +02:00
Robert Haschke
d9b7aa37a3 clang-format python wrapping code 2021-03-31 00:19:51 +02:00
cpetersmeier
14e06659d5 Towards inherited classes in Python 2021-03-31 00:19:51 +02:00
cpetersmeier
6ab50fcc40 PythonWrapper: Use collective includes 2021-03-19 18:39:47 +01:00
Robert Haschke
1f5c684909 Simplify wrapper code 2021-03-19 18:39:47 +01:00
Robert Haschke
d7d54d828f Access to container's children 2021-03-19 18:39:47 +01:00
Robert Haschke
fd25a0626a auto-format python code with black 2021-03-19 18:39:44 +01:00
Robert Haschke
10adb63f4a Travis: Testing on Noetic as well 2020-12-08 16:10:28 +01:00
Robert Haschke
b2adcf0247 Python3 compatibility 2020-11-30 13:34:33 +01:00
Robert Haschke
c97b462024 migration: boost::python -> pybind11 2020-11-30 13:34:33 +01:00
Robert Haschke
8433e460e4 Merge branch 'master' into wip-python-api 2020-11-26 12:05:03 +01:00
cpetersmeier
012a10be25 StagesWrapper: Python Function Bindings
Add python bindings for

    - SimpleGrasp::setIKFrame
    - Pick::setApproachMotion
    - Pick::setLiftMotion
2020-11-26 11:47:20 +01:00
Robert Haschke
ef9c7612a9 Fix (again) creation of TaskPanel 2020-10-30 00:44:51 +01:00
Robert Haschke
f7ea72010b Fix ambiguous member initialization 2020-10-30 00:44:51 +01:00
Robert Haschke
bfa2a6070d MoveTo: Publish failed planning attempts 2020-10-30 00:44:51 +01:00
Robert Haschke
e83a5ecefa Configurable handling of old remote tasks
- keep all previous tasks
- replace with next task of same id
- always remove
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
c7151dcc48 Remove mainloop jobs
All topics are handled by the Display's update_nh_ within the main GUI thread anyway.
2020-10-24 03:23:19 +02:00
Robert Haschke
d78048719d Fix memory leakage 2020-10-24 03:23:19 +02:00
Robert Haschke
43828506b5 Fix TaskView segfault
We shouldn't "change" solution/property models if they didn't actually changed.
2020-10-24 03:23:19 +02:00
Robert Haschke
8b8666c64e TaskPanel: Fix assertion
When loading an .rviz config with MTC displays disabled, the mainloop_job to create a TaskPanel
will never be executed (because the display is disabled). Removing the display will then hit the
assertion that DISPLAY_COUNT > 0.
Fixed, by not relying on Display::update, but just scheduling a Qt GUI job via QTimer::singleShot().
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
cpetersmeier
ede5fe396f StagesWrapper: Add std::map setGoal overload.
Adding a further overload of the `setGoal()` function that is exposed to
the python api. This should provide an interface for passing in dicts as
joint name and -angle configurations.
2020-10-21 16:45:05 +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
a0d54b6e69 Adapt codecov.yaml
unifying it with MoveIt's config file
2020-09-23 07:49:31 +02:00
Robert Haschke
49b2ff8ce5 Test Merger 2020-09-22 11:06:34 +02:00
Robert Haschke
745d6739bd fix typo 2020-09-22 11:06:01 +02:00
Robert Haschke
8152994e52 Fix interface resolution 2020-09-22 10:57:49 +02:00
Robert Haschke
d0dc384bdf Update TaskModel for all columns, including time 2020-09-22 10:56:11 +02:00
Robert Haschke
4089d5eefa Container::remove(): return removed Stage 2020-09-22 10:56:11 +02:00
Robert Haschke
e9c56c9c64
Merge PR #183: CostTerm API 2020-09-22 07:47:42 +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
v4hn
5d0fd57754 initialize default CostTerm in constructor
It seems to be too fragile to rely on `init` being called.
On the other hand we should really enforce this anyway. -.-
2020-09-21 22:52:19 +02:00
Robert Haschke
687fcb6a6d Update comments to solution's computeCost() methods 2020-09-21 22:52:19 +02:00