Commit Graph

1061 Commits

Author SHA1 Message Date
Robert Haschke
cc8bcd3fdc become agnostic to urdfdom's shared_ptr types 2018-02-24 13:42:12 +01:00
Robert Haschke
07e99461fc conditionally normalize angular 2018-02-24 13:42:12 +01:00
Robert Haschke
cf54024379 fix derivation of propagation direction from connect stage 2018-02-24 13:42:12 +01:00
Robert Haschke
aee2525382 fix ModifyPlanningScene: pass stage properties to callback 2018-02-24 13:42:12 +01:00
Robert Haschke
b767e359e9 GenerateGraspPose: require pregrasp pose 2018-02-24 13:42:12 +01:00
Robert Haschke
6a3456f961 unittest ContainerBasePrivate::position() 2018-02-24 13:42:12 +01:00
Robert Haschke
9cd6efe46f Stage::init(PlanningScene) -> Stage::init(RobotModel) 2018-02-24 13:37:50 +01:00
v4hn
2a2d406368 remove restriction to watch only generators 2018-02-24 13:37:50 +01:00
Robert Haschke
d035089c10 MonitoringGenerator 2018-02-24 13:37:50 +01:00
Robert Haschke
8624224d6b FixedState generator 2018-02-24 13:37:41 +01:00
llach
e1281130ac CurrentState: fetch scene via get_planning_scene service 2018-02-24 13:37:41 +01:00
v4hn
4f2b38f02d add missing headers 2018-02-21 14:56:51 +01:00
Robert Haschke
cf76352d2d Merge branches 'fix-containers' and 'fix-priority-updates' 2018-02-20 08:07:48 +01:00
Robert Haschke
ba75f7c835 fixed remaining unittest 2018-02-20 08:06:23 +01:00
Robert Haschke
e368fd9948 avoid accidental overwrite of InterfaceState 2018-02-19 09:05:56 +01:00
Robert Haschke
373d7f204f update priorities of all interface states along a (partial) solution path
if a parallel container is involved somewhere in the middle, it will
again access these states, e.g. planning alternative solutions
2018-02-19 09:05:56 +01:00
Robert Haschke
1eacea6b35 reset InterfaceState::owner_ if state is removed from Interface 2018-02-19 09:05:56 +01:00
Robert Haschke
35f1540369 recursive interface auto-detection
trigger auto-detection from top (task) level:
only there we now for sure the accepted interface
2018-02-19 01:05:56 +01:00
Robert Haschke
f45a4e3e2c improve validation
- postpone pruning / interface auto-detection to top task-level
  only the task state knows for sure, that it requires its wrapped child to push to both ends
- perform connectivity validation only after pruning
  only then, we the interfaces are completely determined
2018-02-19 01:05:56 +01:00
Robert Haschke
a523333ef6 basic auto-detection of interfaces for propagating stages
works if propagation direction can be derived from a generator or
connecting stage within the sequence

start-to-end propagation through whole serial container still fails
2018-02-18 21:23:12 +01:00
Robert Haschke
1a0b9b36ee fix connection creation
Establishing the interface connections, we face a chicken-egg-problem:
To establish a connection, a predecessors/successors pull interface is
assigned to the current's stage push interface.
However, propagating stages (in auto-detection mode) can only create
their pull interfaces if the corresponding, opposite-side push interface
is present already (because that's the mechanism to determine the supported
propagation directions).

Hence, we need to resolve this by performing two sweeps:
- initialization, assuming both propagation directions should be supported,
  thus generating both pull interfaces, i.e. providing the egg
- stripping down the interfaces to the actual context
  This context is provided by two stages pushing from both ends
  into a (potentially long) sequence of propagating stages (tbd).

Contributions of this PR:
- PropagatingEitherWay: explicitly distinguish AUTO from BOTHWAYS interface
  AUTO: auto-derive interface from provided push interfaces
  BOTHWAYS: explicitly require both directions
- SerialContainer: (better, but not yet perfect) validation of connectivity
- ParallelContainer: determine interface from what children offer
2018-02-18 21:23:12 +01:00
Robert Haschke
ec2b06292e extended unittest for serial connection validation 2018-02-18 14:03:57 +01:00
Robert Haschke
a4feb705d0 cleanup operator<<(ostream, *)
- basic implementation for StagePrivate
- implementation for Stage calls this
- implementation for ContainerBase recursively calls this
- implementation for Task added
2018-02-18 13:58:09 +01:00
Robert Haschke
1f4264c8c8 PropagatingEitherWayPrivate: count failures in both directions 2018-02-16 16:01:05 +01:00
Robert Haschke
2ea463fff4 replace std::cout with ros console 2018-02-16 16:01:05 +01:00
Robert Haschke
acffd39091 SerialContainer: fix priority propagation
- traverse all (also partial) solution paths
- and update priority at both ends
- remove pending state pairs if cost increased to infinity
2018-02-16 16:01:05 +01:00
Robert Haschke
469c6ccede MoveRelative: fix marker arrow 2018-02-16 11:37:57 +01:00
Robert Haschke
dd0d004052 cleanup ComputeIK
- correctly check collision for target pose before doing IK
- visualize failed collision check / failed IK
2018-02-16 09:55:34 +01:00
Robert Haschke
deb09b7dfd GenerateGraspPose: marker cleanup
- remove arrow marker (approach direction isn't hard-coded anymore)
- consider all rigidly attached parent links for display
- add grasp frame
2018-02-14 17:50:02 +01:00
Robert Haschke
a8cf2dc844 GenerateGraspPose: correctly check for existence of link frames 2018-02-13 19:29:12 +01:00
Robert Haschke
7e66c24822 marker tools: allow vector of LinkModel* 2018-02-13 19:29:12 +01:00
Robert Haschke
b1fac6eed0 MoveRelative: allow zero min_distance 2018-02-13 19:29:12 +01:00
Robert Haschke
0b8bf2b8b7 example: twist motion 2018-02-13 00:01:01 +01:00
Robert Haschke
ca3bce4669 local planning scene 2018-02-12 23:58:49 +01:00
Robert Haschke
da9711a85c example using new features 2018-02-12 23:56:10 +01:00
Robert Haschke
d053e037eb cmake cleanup: group source files 2018-02-12 23:55:34 +01:00
Robert Haschke
4be373592a Merge branches 'cleanup', 'wip-modular-planning', 'wip-containers', 'wip-gui' and 'wip-modify-ps' 2018-02-12 23:54:51 +01:00
Robert Haschke
724f0c3014 modular planning
Separate planning approaches (using MoveIt pipeline or computeCartesianPath) from stages.
This allows to reuse planning in various stages without code duplication.

Reworked stages:
Move -> Connect
Gripper + CartesianPositionMotion -> MoveTo
CartesianPositionMotion -> MoveRelative
2018-02-12 23:43:47 +01:00
Robert Haschke
0d338a7f5f visualize collisions 2018-02-12 23:40:33 +01:00
Robert Haschke
f35a6bc05d FixCollisionObjects stage 2018-02-12 23:40:33 +01:00
Robert Haschke
f006f0f3d6 reduce code bloat using SFINAE template selection 2018-02-12 23:40:33 +01:00
Robert Haschke
381edf2d22 ModifyPlanningScene stage
- attach / detach objects to robot
- enable / disable collision pairs
- works in either direction (FORWARD +  BACKWARD)
2018-02-12 23:40:33 +01:00
Robert Haschke
449ccf55c6 merge WrapperBase + Wrapper into WrapperBase
Wrapper is not restricted to generator-type stage anymore.
2018-02-12 23:39:46 +01:00
Robert Haschke
032a4e23c1 derive WrapperBase from ParallelContainerBase 2018-02-12 23:39:46 +01:00
Robert Haschke
1ab2d596fb ContainerBasePrivate::liftSolution() 2018-02-12 23:39:46 +01:00
Robert Haschke
919be24d16 implement ParallelContainerBase 2018-02-12 23:39:46 +01:00
Robert Haschke
a3a8f1a9d2 improved directional (forward/backward) access to interfaces
- TraverseDirection -> Interface::Direction
- StagePrivate: pullInterface(), pushInterface()
- trajectories<dir>(SolutionBase) -> SolutionBase::trajectories<dir>()
2018-02-12 23:39:46 +01:00
Robert Haschke
73f509c3ba simplify usage of ContainerBasePrivate::copyState() 2018-02-12 23:39:46 +01:00
Robert Haschke
eaaaf07214 exploit default argument for Interface constructor 2018-02-12 23:39:46 +01:00
Robert Haschke
cf71d2f0d2 unify use of buffer interfaces in containers
All containers need to buffer their children's sendBackward/sendForward states.
2018-02-12 23:39:46 +01:00
Robert Haschke
9bdfcc8c23 expose Task::initScene()
... to allow use of local scene
2018-02-12 23:37:19 +01:00
Robert Haschke
e9d0a05f75 default arg in header 2018-02-12 23:37:19 +01:00
Robert Haschke
3a4dc6755b Merge branches 'fix-remote-task-model', 'wip-cost-ordering' and 'wip-properties' 2018-02-12 23:35:01 +01:00
Robert Haschke
fe2c4f312e serialize stage properties 2018-02-12 22:45:15 +01:00
Robert Haschke
5ff78f653e signal callback function
... to allow for syncing with rviz::Property
2018-02-12 22:45:15 +01:00
Robert Haschke
c3eead0115 allow only a single inititialization source 2018-02-12 22:45:15 +01:00
Robert Haschke
5c43d700a8 update state priorities in a container-specific fashion
Reorder interface list on priority updates.
This requires the InterfaceState to store a pointer to the owning Interface.
2018-02-12 22:44:18 +01:00
Robert Haschke
facd6438c9 Interface: order states by priority
Priority is (depth of solutions, accumulated cost along trace).
2018-02-12 22:44:18 +01:00
Robert Haschke
d0351698a6 single map internal_to_external
There is no need to distinguish between starts and ends when mapping
states, because start/end states need to be disjoint sets.
2018-02-12 22:44:18 +01:00
Robert Haschke
e6af069139 SerialContainer: traverse solutions w/o stopping stage
Always traverse from current solution to the start/end of a complete
path and only call the callback once for the whole trace.
2018-02-12 22:44:18 +01:00
Robert Haschke
6a62f6be76 default argument for NotifyFunction in Interface constructor 2018-02-12 22:44:18 +01:00
Robert Haschke
244a7d147b sort serial solutions before insertion 2018-02-12 22:36:58 +01:00
Robert Haschke
29577515a0 cost ordering for solutions 2018-02-12 22:36:56 +01:00
Robert Haschke
c84fa4cdd6 cost ordered API 2018-02-12 22:36:12 +01:00
Robert Haschke
1403fc9830 fixed some clang warnings 2018-02-12 22:36:12 +01:00
Robert Haschke
2184450bd6 count all failures for statistics 2018-02-12 22:36:12 +01:00
Robert Haschke
7a13d79bc4 example setting solution markers 2018-02-12 22:36:12 +01:00
Robert Haschke
97bb6ef2c6 allow handling of failures
- store "failure" solutions to facilitate debugging
- Introspection assigns solution IDs as soon as they are created in a stage
  Thus, solution IDs represent their creation order.
  In contrast, the order of publishing (in StageStatistics) should
  represent the cost order.
- Storing failures is disabled if Introspection is not available.
2018-02-12 22:35:58 +01:00
Robert Haschke
57cd11e3a9 Wrapper::compute: return true if new solutions are found 2018-02-12 22:33:39 +01:00
Robert Haschke
38f7696acf ComputeBase::addTrajectory -> ComputeBasePrivate::addTrajectory
Forbid indirect access to trajectories_.
Only official compute classes have access.
2018-02-12 22:33:39 +01:00
Robert Haschke
5c1cad14df Merge branches 'fixes', 'wip-drag-n-drop', 'wip-ikstage' and 'wip-marker-vis'
resolved conflicts:
core/include/moveit/task_constructor/container.h
core/src/container.cpp
core/src/stages/generate_grasp_pose.cpp
visualization/motion_planning_tasks/src/task_display.cpp
visualization/motion_planning_tasks/src/task_panel_p.h
2018-02-04 21:36:01 +01:00
Robert Haschke
17683b12c9 more exported stage plugins: CurrentState 2018-02-04 21:30:25 +01:00
Robert Haschke
736136dd9f collision test for ee group 2018-02-04 09:01:45 +01:00
Robert Haschke
3fd096c8e6 fix IK stage: insert different solutions as different scenes 2018-02-04 09:01:45 +01:00
Robert Haschke
57d907908d better names for frame and transform variables 2018-02-04 09:01:45 +01:00
Robert Haschke
fe05894709 renamed GenerateGraspPose::setGraspFrame() to setToolToGraspTF() 2018-02-04 09:01:45 +01:00
Robert Haschke
0918ad6897 implement IK as separate stage
... wrapping another stage
2018-02-04 09:01:45 +01:00
Robert Haschke
b6959170db derive WrapperBase from ContainerBase
While ParallelContainers can directly promote their child solutions as
their own, a Wrapper needs to modify those solutions. Hence, Wrappers
should be derived directly from Container.
2018-02-04 09:01:45 +01:00
Robert Haschke
e4ad7a0753 removed Stage::validate()
... only was checking for implies(a, a) which is always true
2018-02-04 09:01:45 +01:00
Robert Haschke
104e52eb48 promise to not modify solutions 2018-02-04 09:01:45 +01:00
Robert Haschke
f8952bb712 introducing process_id
The task id was not unique enough to distinguish different tasks.
When a task publisher is killed and restarted, it usually comes up with
the same task id. However, visualization doesn't notice this change and
get confused / crashes when receiving task statistics and solutions.
2018-02-04 09:01:40 +01:00
Robert Haschke
01d43e3f3b marker_tools 2018-02-04 09:00:54 +01:00
Robert Haschke
0e8dd85ae6 allow stages to access the created SubTrajectory
to add markers, set name, etc.
2018-02-04 09:00:54 +01:00
Robert Haschke
e9363919e8 Merge branch 'wip-properties' 2018-02-04 08:59:35 +01:00
Robert Haschke
41ec46964a more unit tests 2018-02-04 08:56:11 +01:00
Robert Haschke
3ab899a9a8 cleanup error handling
throw std::logic_error on type errors
throw std::runtime_error on undeclared property
don't expose generic PropertyMap::declare()
2018-02-04 08:56:11 +01:00
Robert Haschke
c9e3be08d0 fix initialization order of properties
First from INTERFACE, second from PARENT.

INTERFACE initialization only makes sense for Propagating stages.
Connecting stages should ensure that interfaces define identical
properties which is not possible with boost::any.
2018-02-04 08:56:11 +01:00
Robert Haschke
4db7e8eb88 definition of PropertyInitializerSource moved to Stage 2018-02-04 08:56:11 +01:00
Robert Haschke
f6253c46a4 generalize initialization source from enum to int 2018-02-04 08:56:11 +01:00
Robert Haschke
59fe1e7860 separate setValue() and setCurrentValue()
setValue() also updates the default value.
reset() reset to the default value.
setCurrentValue() only updates the current value, keeping current default.
Thus setCurrentValue() can be reverted (to default) using reset().
2018-02-04 08:55:58 +01:00
Robert Haschke
d62b85572a remove property name from InitializerFunction's signature 2018-02-03 21:45:40 +01:00
Robert Haschke
0d6dbee215 initFrom() -> configureInitFrom() + performInitFrom()
Use different function names for different semantics.
2018-02-03 21:45:40 +01:00
Robert Haschke
32a0de6bf3 countDefined(): count number of defined properties 2018-02-03 21:45:40 +01:00
Robert Haschke
f2b688d1f0 generalize GenerateGraspPose
replacing scalar graspOffset and hard-coded Euler angles with arbitrary graspFrame
2018-02-03 21:45:40 +01:00
Robert Haschke
587dcaebb2 ur5 example: use properties 2017-12-13 14:19:20 +01:00
Robert Haschke
7d8f8dfc8d PropertyMap 2017-12-13 14:19:20 +01:00
v4hn
d7719e721f add full license information
so dull... but for the matter of completeness
2017-12-12 21:24:32 +01:00
v4hn
9fca79e48b reduce catkin_lint complains in core 2017-12-08 20:55:30 +01:00
Robert Haschke
0246d60de9 DisplaySolution: struct to unify all data corresponding to a sub trajectory 2017-11-30 18:15:47 +01:00
Robert Haschke
1bc485658e Merge branch 'wip-visualization' into wip-refactor 2017-11-24 13:40:43 +01:00
Robert Haschke
b48ba91a75 cmake compatbility to 2.8.12 2017-11-24 13:37:50 +01:00
Robert Haschke
9032dabca5 navigate solutions 2017-11-24 11:24:18 +01:00
Robert Haschke
957b10a7a8 don't export SerialContainer as pluginlib class
... it's imported as builtin
2017-11-20 00:07:27 +01:00
Robert Haschke
e52dc8db11 Introspection: start solution id at index 1
... allowing 0 to have special meaning "invalid"
2017-11-20 00:04:57 +01:00
Robert Haschke
46af6a28da Introspection: helper fillSolution() adding task_id 2017-11-20 00:04:35 +01:00
Robert Haschke
df1bbc5d32 travis config + fixes 2017-11-13 01:33:33 +01:00
Robert Haschke
e9ba2248f8 Merge remote-tracking branch 'origin/master' into wip-refactor
- cmake 3.1 required for CMAKE_CXX_STANDARD
- more old-style signal/slots for Qt4 compatibility
2017-11-13 00:07:23 +01:00
Robert Haschke
d0e3783d4e removed statistics from task description
- make TaskStatistics a latched topic too
- subscribing to topics in order (1. description, 2. statistics, 3. solution)
  should ensure that we receive those latched messages in this order
2017-11-12 21:42:48 +01:00
Robert Haschke
67b5a99d8d receive task solutions
- remove parent_id from StageStatistics message
2017-11-12 21:42:48 +01:00
Robert Haschke
df074b48a5 cleanup TODO 2017-11-12 21:42:48 +01:00
Robert Haschke
9c5ddd3f6d split repo into different ROS packages: msgs, core, visualization 2017-11-12 21:42:48 +01:00