Commit Graph

1061 Commits

Author SHA1 Message Date
Robert Haschke
3cdf7f60fa 0.1.4
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2025-10-15 14:24:21 +02:00
Robert Haschke
ef1cdeea86 0.1.4
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2025-10-15 13:53:26 +02:00
Robert Haschke
0c0f47f151 Simplify include of tf2_eigen.hpp
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2025-10-09 15:54:10 +02:00
Robert Haschke
35063ff0dd Merge branch 'master' into ros2 2025-10-09 15:53:46 +02:00
Captain Yoshi
1655762a63
Avoid duplicate scenes in Solution.msg from generator stages (#639)
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If start and end scene of a stage are identical (e.g. from a generator), we can use an (empty) scene diff as well.
2025-09-10 17:33:31 +02:00
Gauthier Hentz
7384702448
Allow max Cartesian link speed in PlannerInterface (#277)
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2025-09-10 14:30:26 +02:00
Robert Haschke
4a42072e96 Replace deprecated ament_target_dependencies()
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2025-09-10 12:15:43 +02:00
Robert Haschke
4472f3c38c Merge branch 'master' into ros2
Reverting d19b77782d and 717771e25a
ROS2 doesn't release pybind11 v3.
2025-09-10 11:34:34 +02:00
Robert Haschke
e9eab62f5f
Enable collisions visualizations (#708)
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2025-08-22 08:38:44 +02:00
Robert Haschke
336ad4456c
LimitSolutions wrapper stage (#710)
* Add python bindings for PassThrough
* Add LimitSolutions stage
2025-08-22 08:37:09 +02:00
Robert Haschke
bf001bd093 Improve code documentation
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2025-08-13 11:39:38 +02:00
Robert Haschke
87b3701223 CI: Fix Noble builds
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- Fix clang error
  https://stackoverflow.com/questions/27954940/a-using-statement-compiles-with-g-fails-compilation-with-clang
- Don't run pick-place test with asan: it doesn't finish.
- Add PIP_BREAK_SYSTEM_PACKAGES
- Fix coverage creation + upload
2025-08-11 14:57:29 +02:00
Robert Haschke
f3659da82b Pick with custom max_velocity_scaling_factor during approach+lift 2025-08-10 11:53:09 +02:00
Robert Haschke
24f22484ca Rework pybind11 ABI compatibility checks
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2025-08-10 11:53:09 +02:00
Robert Haschke
717771e25a Remove pybind11 submodule 2025-08-10 11:53:09 +02:00
Robert Haschke
d19b77782d Upgrade pybind11 to v3 2025-08-10 10:10:53 +02:00
Robert Haschke
580dac9151 Modernize declaration of compile options 2025-08-07 12:42:39 +02:00
Robert Haschke
5ec63045e8 Factor out Python property handling
... to allow for reuse in custom Python wrappers
2025-08-07 12:42:39 +02:00
Marq Rasmussen
7e1303dee1
Reset preempt_request after canceling execution (#689)
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2025-06-02 15:54:18 +02:00
Marq Rasmussen
584197ab76
Let Task::preempt() cancel execute() (#684)
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2025-05-29 20:31:15 +02:00
Captain Yoshi
a0da41a4aa
Fix clamping of joint constraints (#665)
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Do not enforce position bounds (by clamping to valid positions), but let the stage fail if joints are outside the limits.
2025-02-25 13:12:53 +01:00
Robert Haschke
dd74b59061 Merge branch 'master' into ros2 2025-02-11 08:59:27 +01:00
Robert Haschke
bad8e13254 Fix error message
... due to copy-paster error in 9ea1692f96
2025-02-11 08:10:18 +01:00
Robert Haschke
9ea1692f96
Correctly report failures instead of issueing console warnings
Don't use command-line warnings, but spawn failure solutions.
2025-02-06 15:09:15 +01:00
Robert Haschke
cf1c452614 Merge branch 'master' into ros2 2025-01-19 17:52:32 +01:00
Robert Haschke
8318546992 Increase minimum required CMake version to 3.16
supported by Ubuntu 20.04
2025-01-19 15:55:58 +01:00
Robert Haschke
d2c5150ec9 Python API: Allow passing a task's introspection object to SolutionBase::toMsg()
which is a prerequisite for correct filling of IDs.
2025-01-13 14:30:41 +01:00
Ali Haider
a924b566fb
Fix typo 2025-01-05 23:09:58 +01:00
Robert Haschke
325c4012f5 Merge branch 'master' into ros2 2024-12-22 14:12:55 +01:00
Robert Haschke
4dfcf09516 clang-format-14 2024-12-22 14:09:08 +01:00
Robert Haschke
cd0ab8838c CI: Add Noble build 2024-12-22 14:09:08 +01:00
Robert Haschke
8c0609a711 clang-tidy fixes: std::endl -> '\n' 2024-12-22 12:29:05 +01:00
Robert Haschke
45ea86c163 clang-tidy fixes: use uint8_t enums 2024-12-22 12:28:58 +01:00
Robert Haschke
5067dbb432 clang-tidy fixes 2024-12-22 12:28:26 +01:00
Robert Haschke
b4a37094ae Fix clang-tidy warnings 2024-12-22 12:16:58 +01:00
Cihat Kurtuluş Altıparmak
3cd567e09b
Use .hpp headers (#641)
based on PR https://github.com/moveit/moveit2/pull/3113
2024-12-22 12:13:33 +01:00
Robert Haschke
8b4aa43712 Merge branch 'master' into ros2 2024-12-09 09:54:45 +01:00
JafarAbdi
5d23cb89df Add support for GenerateRandomPose 2024-12-09 09:53:07 +01:00
Robert Haschke
f29784e750 Improve error message
Indicate source of error as CartesianPath.
2024-12-06 12:07:15 +01:00
Robert Haschke
08c1447d9a Merge branch 'master' into ros2 2024-12-04 14:55:03 +01:00
JafarAbdi
f5a0a545e5 python: Add Task::setRobotModel 2024-12-04 13:26:33 +01:00
Robert Haschke
821b5951f1 Silent pybind11 warning 2024-12-02 11:21:22 +01:00
Robert Haschke
dc8399f221 Merge branch 'master' into ros2 2024-10-15 20:06:22 +02:00
Robert Haschke
b3b5ee6086 CI: Update pre-commit hooks / clang-format-14 2024-10-15 19:52:23 +02:00
Robert Haschke
0a502ce7fe Add path_constraints property to Connect stage 2024-10-11 22:11:33 +02:00
Michael Görner
721ff356b7
provide a fmt wrapper (#615)
for special eigen formatter, which is not available in fmt9

https://github.com/fmtlib/fmt/issues/3465
https://stackoverflow.com/a/73755864/21260084
2024-09-24 20:41:12 +02:00
Robert Haschke
cc7f9f0585 Merge branch 'master' into ros2 2024-09-17 15:00:39 +02:00
Robert Haschke
99ccc115e0
Update API: JumpThreshold -> CartesianPrecision (#611)
Python: Access properties via writable references
This allows to modify properties in place, e.g. cartesian_solver.precision.translational = 0.01
2024-09-17 10:59:14 +02:00
Robert Haschke
184d39897a Add missing test dependency 2024-09-02 11:20:45 +02:00
Captain Yoshi
fdc06c3b91
Reduce stop time due to preempt (#598)
The preempt_request_ flag was only checked at the top-level task container before each compute iteration.
As a single sweep might take a while, we should check the flag before computing each stage.
2024-07-19 15:46:12 +02:00