Commit Graph

1397 Commits

Author SHA1 Message Date
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
28b3e24a26 CI: Drop obsolete clang-tidy option AnalyzeTemporaryDtors 2024-12-21 17:41:29 +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
d5e1376b08 Add Jammy build 2024-12-04 14:23:44 +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
1acf72e0b4 examples: add orientation path constraint
constrained.py: constrain orientation of attached object
pickplace.py: keep object upright during transport
2024-10-15 17:07:17 +02:00
Robert Haschke
69b4606bca CI: Return to custom cache action 2024-10-13 23:53:06 +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
Michael Görner
d50c846a7b
Ignore Debian-specific catkin_lint error around urdfdom_headers (#614)
Without the patch:

$ catkin_lint rviz_marker_tools/
rviz_marker_tools: package.xml: error: missing build_depend on 'urdfdom_headers'

requires catkin_lint 1.6.24 for successful error suppression.
2024-09-24 20:32:42 +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
Michael Görner
5a44808146
clean up dependencies for rviz_marker_tools (#610)
liburdfdom-dev is not actually used. Only liburdfdom-headers-dev.
2024-09-02 22:52:47 +02:00
Robert Haschke
184d39897a Add missing test dependency 2024-09-02 11:20:45 +02:00
Robert Haschke
237a07f96f CI: Update actions 2024-09-02 09:25:12 +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
4f69a22ddb Silent error "Found empty JointState message" 2024-07-18 13:48:32 +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
Paul Gesel
60ccd74443
MoveRelative: fix segfault on empty trajectory (#595)
Check that at least one robot state exists in the robot trajectory before accessing it.

Signed-off-by: Paul Gesel <paul.gesel@picknik.ai>
2024-07-16 17:18:16 +02:00
Robert Haschke
2e9a223827
MoveRelative: handle equal min/max distance (#593)
When min_distance == max_distance > 0.0, the minimal distance might be missed due to numerical errors.
To avoid this, deactivate the minimal distance check and run the full distance as given by max_distance.
2024-07-16 08:24:55 +02:00
Robert Haschke
8d2baf2739 Cleanup unit tests
... and allow them to run via both, cmdline and pytest
2024-07-13 01:59:22 +02:00
Robert Haschke
6d376fb8b9 Connect: Relax validity check of reached end state 2024-07-12 06:31:33 +02:00
Robert Haschke
0fed09d431 Unify Python demo scripts 2024-07-12 06:31:33 +02:00
Robert Haschke
93ef98ad67 Switch shebang to python3 2024-07-11 15:44:28 +02:00
Robert Haschke
4debc37904 Silence gcc's overloaded-virtual warnings 2024-07-11 09:50:35 +02:00
Fabian Schuetze
702710dec5
Improve comments for pick-and-place task (#238) 2024-07-06 19:59:05 +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
42a08d6444 PassThrough: cleanup unused headers 2024-07-04 11:57:31 +02:00
Robert Haschke
a84479cc58 Avoid segfault if TimeParameterization is not set 2024-07-03 09:32:30 +02:00
Robert Haschke
b1336dc210 CartesianPath: allow ik_frame definition
... if start and end are given as joint-space poses
2024-06-29 18:02:05 +02:00
Robert Haschke
177e19de1f Generalize utils::getRobotTipForFrame()
... to return error_msg instead of calling markAsFailure() on a solution
2024-06-29 17:55:45 +02:00
Robert Haschke
8fa66a6d2c Update pybind11 to version 2.12.0
Currently used branch was not interoperable with a standard version of pybind11.
2024-05-29 15:43:46 +02:00
VideoSystemsTech
ad5c878f19
ComputeIK: Allow additional constraints for filtering solutions (#464)
Add "constraint" property.

Co-authored-by: Robert Haschke <rhaschke@techfak.uni-bielefeld.de>
2024-05-28 16:54:10 +02:00
VideoSystemsTech
227d475282 Expose MultiPlanner to Python (#474)
Co-authored-by: Robert Haschke <rhaschke@techfak.uni-bielefeld.de>
2024-05-27 19:17:45 +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
Captain Yoshi
a0c00646c2
Add NoOp stage (#534)
This stage can be used to add arbitrary user-defined properties w/o modifying the PlanningScene state or adding a trajectory.

Co-authored-by: Robert Haschke <rhaschke@techfak.uni-bielefeld.de>
2024-05-24 14:34:27 +02:00
Robert Haschke
54e653ebdb Fix failing assertion
The cost of a newly created Priority does not need to be finite.
An example occurs in the Pick+Place demo: the CurrentState solution
is filtered by an applicibility test, which may set the cost to infinity
while lifting the solution to the wrapper stage.
In this case, new InterfaceStates are created from the infinite cost solution.
Consequently, the state should be marked as PRUNED.
2024-05-24 12:02:20 +02:00
Robert Haschke
9c05305eff ModifyPlanningScene: check state for collisions 2024-05-24 10:49:14 +02:00
Robert Haschke
a8896e4e5d Improve TypeError exceptions
- use pybind11 API instead of Python C API
- provide more informative error messages
2024-05-23 14:08:49 +02:00
Robert Haschke
74b1e5e5d3 CI: prerelease.yaml: make ROS_DISTRO an interactive input 2024-05-23 14:08:49 +02:00
Robert Haschke
8ede80d26d Example of constrained orientation planning 2024-05-23 14:08:49 +02:00
Robert Haschke
92b917d264 CI: update actions 2024-05-23 14:08:49 +02:00