Commit Graph

1259 Commits

Author SHA1 Message Date
v4hn
35560d897d DISABLED -> PRUNED
This makes the semantics much clearer as states can only be disabled by pruning.
2021-09-20 23:07:00 +02:00
v4hn
d143dd7076 simplify exception handling
This could have been done already back when `runCompute` was introduced.
Wrapping the calls in try/catch comes from the previous implementation directly
calling `compute()`.
2021-09-20 23:07:00 +02:00
v4hn
1e10aaccfd Connecting: add another ROS_DEBUG hint
These can facilitate debugging a lot for little overhead.
2021-09-20 23:07:00 +02:00
v4hn
40b00c61d2 DISABLED_FAILED -> FAILED
Failed states are *not* disabled, they just failed connecting (for now).
2021-09-20 23:07:00 +02:00
v4hn
3b9f6ee519 add todo 2021-09-20 23:07:00 +02:00
v4hn
dbfa7e2b8a disable currently failing tests
They will be enabled when the corresponding functionality is merged.
2021-09-20 15:11:13 +02:00
Robert Haschke
35dc037365 Add more fallback tests 2021-09-20 14:52:15 +02:00
Robert Haschke
4e0f295d1e Replace std::list<double>() with PredefinedCosts() 2021-09-20 14:50:13 +02:00
Robert Haschke
61496fecd3 Simplify tests by introducing EXPECT_COSTS() 2021-09-20 14:50:03 +02:00
v4hn
61399d6d23 fixup & extend fallback tests 2021-09-20 14:49:01 +02:00
v4hn
a582fe8297 add another non-trivial test for a reliable fallbacks container 2021-09-20 14:42:55 +02:00
v4hn
b61e045f2c add a test for generator-fallbacks 2021-09-20 14:42:48 +02:00
v4hn
f75a498f55 fallbacks: add a test to use fallbacks *per state*
The current implementation will not fall back for each state
independently, but is meant to stay with the first child producing
a solution. For propagators, this is problematic though
as the picked child depends on the (arbitrary) first received state.

Instead, fallbacks should pass each state to each child separately
until one produces a solution for it (or all are exhausted).
2021-09-20 14:42:42 +02:00
v4hn
2bee9d5f66 rearrange fallback test fixtures 2021-09-20 14:42:35 +02:00
v4hn
5d9efc3b2b fallback tests: use fixture 2021-09-20 14:42:26 +02:00
v4hn
001eadaf3d move fallback to separate test 2021-09-20 14:42:20 +02:00
v4hn
14380c5552 add another test to cover both cases for failing children 2021-09-20 14:42:14 +02:00
v4hn
3244ac92b1 disable ConnectStageInsideFallbacks
This should work, but will require more changes.
2021-09-20 14:42:08 +02:00
Robert Haschke
c6cdd1a970 Fix test Fallback.ActiveChildReset 2021-09-20 14:41:51 +02:00
j-kuehn
f6eadb3fc4 add unit tests for Fallbacks container 2021-09-20 14:41:42 +02:00
Robert Haschke
d0ab3c3703
Improve readability of internal-external bimap using tags (#293) 2021-09-16 13:52:34 +02:00
Robert Haschke
639481726e
Update main scene node's pose on updates of robot's model frame (#292) 2021-09-15 15:09:43 +02:00
Michael Görner
4e3ff57926
switch CI ccov job to Debug build (#290)
To provide accurate coverage information.

It was originally RelWithDebInfo because MoveIt uses it
and Travis's timeout would kick in with the old setup.

According to Robert the timeout should not be a problem anymore with
the GHA ci setup. Actually I don't think the timeout was ever a problem for MTC,
but the config was just copied.
2021-09-06 23:05:29 +02:00
v4hn
06b3df9c30 split assert
so that it becomes obvious which condition triggered it.
2021-09-01 14:53:52 +02:00
v4hn
fa8d21741c print debug message in runCompute
so that it prints from all containers
2021-09-01 14:53:14 +02:00
v4hn
f51f6eb982 address interface changes for object poses in MoveIt
Also include a check for the new object pose field in `Connecting::compatible()`.
2021-08-23 00:33:37 +02:00
v4hn
0273aec83e remove dirty MOVEIT_MASTER-check
... in favor of checking version numbers.
Checking for one header was used for multiple independent things.
In theory we could do exact feature testing instead of using the next release number,
but in practice nobody cares about the individual commits between older releases.
2021-08-23 00:06:42 +02:00
v4hn
6b4eae9d51 ComputeIK: spawn failures with correct states
Otherwise all failures look correct in the introspection.

That was a stupid oversight at some point.
2021-08-21 22:15:21 +02:00
v4hn
ff86217f9a do not modify scene in isTargetPoseColliding
Especially, do not create a custom scene at all.
The method only affects a RobotState.

Fixes https://github.com/ros-planning/moveit_task_constructor/issues/209
2021-08-21 22:15:12 +02:00
v4hn
74d33c4ec0 Merge different mockup implementations
Co-authored-by: Jascha Kühn <57101356+j-kuehn@users.noreply.github.com>
2021-07-07 14:25:42 +02:00
v4hn
4b1f240c21 test_container: correctly initialize robot_model
The local mocks do not care, but leaving a dangling nullptr
leads to segfaults with refactoring/new tests. :-)
2021-07-07 14:25:42 +02:00
v4hn
062c127b86 better API comments for StageCallback 2021-06-15 09:49:05 +02:00
Captain Yoshi
64b65e4eca
GenerateGraspPose: Handle RobotState.msg as pregrasp property (#275)
Co-authored-by: v4hn <me@v4hn.de>
2021-06-15 07:51:18 +02:00
Robert Haschke
ced362f5f6 Merge branch 'master' into wip-python-api 2021-06-11 09:57:55 +02:00
Robert Haschke
4aeab27ba3 Fix placement of Panel widget
Since #1611 and 41d62f5749b05c68131b752c605191518eaf19d5,
the floating argument for panels is correctly handled.
Here, we don't want the panel to be floating.
2021-06-11 09:52:17 +02:00
Robert Haschke
244c999514 Skip some python tests on incompatible pybind11 versions
If MoveIt and MTC use incompatible versions of pybind11, the tests
will fail because MoveIt objects like RobotModel or PlanningScene
cannot be passed to MTC objects and vice versa.
2021-06-10 19:31:05 +02:00
Robert Haschke
3457c91ff2 GHA: lsan.suppressions 2021-06-10 12:08:46 +02:00
Robert Haschke
e3ee75dc16 Fix utf8 encoding 2021-06-10 12:06:22 +02:00
Robert Haschke
5dacc85ff9 Fix warning: control reaches end of non-void function 2021-06-10 07:35:09 +02:00
v4hn
f95fcf17b4 include OGRE headers via SYSTEM 2021-06-08 12:17:16 +02:00
v4hn
0e40b464ec support TYPED_TEST_SUITE
Get rid of deprecation warning if new variant exists.
2021-06-04 14:19:52 +02:00
v4hn
1f51124ae5 add missing virtual destructor to CostTerm
Correctly pointed out by the clang-tidy CI.
2021-06-04 14:19:52 +02:00
v4hn
9d53987e53 satisfy clang-tidy & -Werror -Wall -Wextra 2021-06-04 14:19:52 +02:00
v4hn
924e733a42 use clang for clang-tidy job
And add warnings for gcc AND clang builds (as they can differ slightly).

Clang does not support -Wused-but-set-parameter yet, though
support is [on the way](https://reviews.llvm.org/D100581).
So this gets rid of this warning we see in CI:

> error: unknown warning option '-Wno-unused-but-set-parameter'; did you mean '-Wno-unused-parameter'?
2021-06-04 14:19:52 +02:00
Robert Haschke
437cc550f2 Add missing semicolons after cleanup of MoveIt 2021-05-29 00:38:43 +02:00
Robert Haschke
dce740fdfe CI: fixup asan job
Need to preload libasan.so.5 for move_group node, because it loads a sanitized plugin.
2021-05-29 00:38:43 +02:00
Michael Görner
84d668b0d5
Split ClassLoader plugin code from main libraries (#271)
to work around https://github.com/ros/class_loader/issues/131
2021-05-29 00:38:02 +02:00
Michael Görner
ff4eb4edf1
Run pick+place demo as a unit test (#254) 2021-05-28 00:44:27 +02:00
v4hn
059a939203 Fix test: correctly reset Interface 2021-05-28 00:20:07 +02:00
v4hn
58b1a020b5 Fix memory leak in unit test 2021-05-28 00:19:45 +02:00