Robert Haschke
0c0f47f151
Simplify include of tf2_eigen.hpp
CI / ${{ matrix.env.IMAGE }}${{ matrix.env.NAME && ' • ' || ''}}${{ matrix.env.NAME }}${{ matrix.env.CLANG_TIDY && ' • clang-tidy' || '' }} (map[CLANG_TIDY:pedantic IMAGE:rolling-source]) (push) Waiting to run
CI / ${{ matrix.env.IMAGE }}${{ matrix.env.NAME && ' • ' || ''}}${{ matrix.env.NAME }}${{ matrix.env.CLANG_TIDY && ' • clang-tidy' || '' }} (map[DOCKER_RUN_OPTS:-e PRELOAD=libasan.so.8 -e LSAN_OPTIONS="suppressions=$PWD/.github/workflows/lsan.suppressio… (push) Waiting to run
CI / ${{ matrix.env.IMAGE }}${{ matrix.env.NAME && ' • ' || ''}}${{ matrix.env.NAME }}${{ matrix.env.CLANG_TIDY && ' • clang-tidy' || '' }} (map[IMAGE:jazzy-source NAME:ccov TARGET_CMAKE_ARGS:-DCMAKE_BUILD_TYPE=Debug -DCMAKE_CXX_FLAGS="--coverage"]) (push) Waiting to run
Format / pre-commit (push) Waiting to run
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 )
...
CI / ${{ matrix.env.IMAGE }}${{ matrix.env.NAME && ' • ' || ''}}${{ matrix.env.NAME }}${{ matrix.env.CATKIN_LINT && ' • catkin_lint' || ''}}${{ matrix.env.CLANG_TIDY && ' • clang-tidy' || '' }} (map[CLANG_TIDY:true IMAGE:noble-ci-testing TARGET_CMAKE_… (push) Has been cancelled
CI / ${{ matrix.env.IMAGE }}${{ matrix.env.NAME && ' • ' || ''}}${{ matrix.env.NAME }}${{ matrix.env.CATKIN_LINT && ' • catkin_lint' || ''}}${{ matrix.env.CLANG_TIDY && ' • clang-tidy' || '' }} (map[DOCKER_RUN_OPTS:-e PRELOAD=libasan.so.8 -e LSAN_OPTI… (push) Has been cancelled
CI / ${{ matrix.env.IMAGE }}${{ matrix.env.NAME && ' • ' || ''}}${{ matrix.env.NAME }}${{ matrix.env.CATKIN_LINT && ' • catkin_lint' || ''}}${{ matrix.env.CLANG_TIDY && ' • clang-tidy' || '' }} (map[IMAGE:jammy-ci]) (push) Has been cancelled
CI / ${{ matrix.env.IMAGE }}${{ matrix.env.NAME && ' • ' || ''}}${{ matrix.env.NAME }}${{ matrix.env.CATKIN_LINT && ' • catkin_lint' || ''}}${{ matrix.env.CLANG_TIDY && ' • clang-tidy' || '' }} (map[IMAGE:noble-ci NAME:ccov TARGET_CMAKE_ARGS:-DCMAKE_B… (push) Has been cancelled
Format / pre-commit (push) Has been cancelled
CI / doc (push) Has been cancelled
CI / deploy (push) Has been cancelled
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
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
336ad4456c
LimitSolutions wrapper stage ( #710 )
...
* Add python bindings for PassThrough
* Add LimitSolutions stage
2025-08-22 08:37:09 +02:00
Captain Yoshi
a0da41a4aa
Fix clamping of joint constraints ( #665 )
...
CI / ${{ matrix.env.IMAGE }}${{ matrix.env.NAME && ' • ' || ''}}${{ matrix.env.NAME }}${{ matrix.env.CATKIN_LINT && ' • catkin_lint' || ''}}${{ matrix.env.CLANG_TIDY && ' • clang-tidy' || '' }} (map[CLANG_TIDY:true IMAGE:noble-ci TARGET_CMAKE_ARGS:-DC… (push) Has been cancelled
CI / ${{ matrix.env.IMAGE }}${{ matrix.env.NAME && ' • ' || ''}}${{ matrix.env.NAME }}${{ matrix.env.CATKIN_LINT && ' • catkin_lint' || ''}}${{ matrix.env.CLANG_TIDY && ' • clang-tidy' || '' }} (map[DOCKER_RUN_OPTS:-e PRELOAD=libasan.so.5 -e LSAN_OPTI… (push) Has been cancelled
CI / ${{ matrix.env.IMAGE }}${{ matrix.env.NAME && ' • ' || ''}}${{ matrix.env.NAME }}${{ matrix.env.CATKIN_LINT && ' • catkin_lint' || ''}}${{ matrix.env.CLANG_TIDY && ' • clang-tidy' || '' }} (map[IMAGE:jammy-ci]) (push) Has been cancelled
CI / ${{ matrix.env.IMAGE }}${{ matrix.env.NAME && ' • ' || ''}}${{ matrix.env.NAME }}${{ matrix.env.CATKIN_LINT && ' • catkin_lint' || ''}}${{ matrix.env.CLANG_TIDY && ' • clang-tidy' || '' }} (map[IMAGE:noble-ci NAME:ccov TARGET_CMAKE_ARGS:-DCMAKE_B… (push) Has been cancelled
Format / pre-commit (push) Has been cancelled
CI / doc (push) Has been cancelled
CI / deploy (push) Has been cancelled
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
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
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
b3b5ee6086
CI: Update pre-commit hooks / clang-format-14
2024-10-15 19:52:23 +02:00
Robert Haschke
cc7f9f0585
Merge branch 'master' into ros2
2024-09-17 15:00:39 +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
Robert Haschke
7631486648
Add unittest for #581
2024-07-17 15:10:53 +02:00
Captain Yoshi
cd28bdcd1f
Fix early planning preemption ( #597 )
...
Calling preempt() before plan() is able to reset the preempt_requested_ flag causes the preemption request to get lost. To avoid this issue, we allow a) manual resetting of the request and b) reset the request before leaving plan().
2024-07-17 14:56:01 +02:00
Robert Haschke
98000f37ff
Merge branch 'master' into ros2
2024-07-13 02:07:53 +02:00
Robert Haschke
4debc37904
Silence gcc's overloaded-virtual warnings
2024-07-11 09:50:35 +02:00
Robert Haschke
d4db4cb707
Fix flaky IK in asan unit test: increase timeout
2024-07-09 15:33:47 +02:00
Robert Haschke
26d146874a
Fix failing unittests: remove static executor
2024-07-09 13:25:57 +02:00
Robert Haschke
fbc05e4496
Add property to enable/disable pruning at runtime ( #590 )
2024-07-06 16:51:14 +02:00
Robert Haschke
907014cd57
Disable pruning by default
2024-07-04 12:05:31 +02:00
Robert Haschke
93a3964138
test_pruning.cpp: Add new test
2024-07-04 11:57:31 +02:00
Robert Haschke
48bde8daab
test_pruning.cpp: Extend test to ParallelContainer
2024-07-04 11:57:31 +02:00
Robert Haschke
edf2605a1d
TEMP: Workaround for unittests failing during shutdown
...
Using quick_exit instead of return/exit avoids calling all cleanup functions,
which fail due to a bug in rmw_fastrtps_cpp.
2024-05-29 14:04:07 +02:00
Robert Haschke
bb047c894c
Cleanup unit tests
...
- Unify move_to.launch.py and test_task_model.launch.py
- Rename them to test.launch.py as they are independent of the executable
- Move Node creation to the fixture constructor
- Replace Task::setRobotModel(loadModel()) with Task::loadRobotModel()
2024-05-29 14:04:07 +02:00
Captain Yoshi
3b4ea48c18
Add unittest cartesianCollisionMinMaxDistance ( #538 )
...
... to illustrate that MoveRelative's min-max constraint fails with PipelinePlanners (e.g. Pilz) returning a partially invalid trajectory: MTC does not truncate the trajectory to its valid part and thus fails, even if the valid part fits the given min-max range. This logic is only supported for the CartesianPath planner for now.
Co-authored-by: Robert Haschke <rhaschke@techfak.uni-bielefeld.de>
2024-05-27 16:16:57 +02:00
Robert Haschke
92efc14043
Rename ros-planning org
2024-05-25 21:30:30 +02:00
Robert Haschke
7666f73e04
Simplify formatting code with https://github.com/fmtlib ( #499 )
...
* Simplify formatting code with https://github.com/fmtlib
* Update to clang-format-12
2024-05-25 19:12:42 +02:00
Robert Haschke
5d2857be6b
Merge branches 'simplify-node-creation' and 'master' into ros2
2024-05-24 14:39:38 +02:00
Robert Haschke
9fd2f1f858
Drop Melodic support
...
- py_binding_tools is released into Noetic only
- drop Python2 support
- drop TYPED_TEST_CASE
2024-05-23 14:08:49 +02:00
Robert Haschke
739375298a
Merge branch master into ros2
2024-03-09 13:34:36 +01:00
Robert Haschke
55c4b52b13
Cosmetic fixes
2024-03-09 11:11:01 +01:00
Sebastian Jahr
f661c18e69
Fix MTC unittests for new pipeline refactoring ( #515 )
2024-03-07 20:53:45 +01:00
Sebastian Jahr
1e058598c7
Add planner_id to SubTrajectory info ( #490 )
2024-03-06 18:11:57 +01:00
Sebastian Jahr
0e02fcae77
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
2024-03-06 15:59:09 +01:00
Captain Yoshi
5720b83dce
Connect: ensure end-state matches goal state ( #532 )
2024-02-25 16:58:56 +01:00
Robert Haschke
9dfd6bd2eb
Fix duplicate solutions
...
When adding pending state pairs for a new incoming state to Connect,
we have to re-enable opposite states from ARMED state.
This changes the order of states in the interface.
If we do this while iterating over the states, we might add pairs multiple times,
because iteration continues with same state at an earlier position.
2024-02-15 21:42:18 +01:00
Robert Haschke
13264ba21d
Fix leaking of failures into enumerated solutions
2023-10-25 22:21:36 +02:00
Robert Haschke
7b965863e3
Add more debugging output
...
- Add Stage::introspection() accessor
- Introspection: debug-log solution registration
- RemoteSolutionModel: show internal solution id as tooltip in 1st column
2023-10-25 22:19:49 +02:00
Robert Haschke
08b102d5b0
Unit tests for #485
2023-10-20 09:23:32 +02:00
Robert Haschke
605a1e5419
DelayingWrapper stage to delay solution shipping in unit tests
2023-10-20 09:23:32 +02:00
Robert Haschke
0fd989cb27
Simplify tests
2023-10-13 00:25:39 +02:00
Robert Haschke
349e3c6c6c
Merge branch master into ros2
2023-05-26 16:38:15 +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
b3d20cdcec
Merge branch 'master' into ros2
2023-01-05 16:54:41 +01:00
JafarAbdi
f055fabbd1
Fix clang-tidy warnings
...
- Replace old-style casts
- Fix missing initialization
2023-01-04 23:52:38 +01:00
Robert Haschke
9924dfe25f
Merge branch master into ros2
2022-11-02 19:16:38 +01:00