v4hn
4b1f240c21
test_container: correctly initialize robot_model
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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 )
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Co-authored-by: v4hn <me@v4hn.de>
2021-06-15 07:51:18 +02:00
Robert Haschke
4aeab27ba3
Fix placement of Panel widget
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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
3457c91ff2
GHA: lsan.suppressions
2021-06-10 12:08:46 +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
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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
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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
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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
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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 )
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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
Robert Haschke
f070247a25
Fix compiler warnings
2021-05-27 22:24:29 +02:00
Robert Haschke
f5022cc1d4
GHA: check for warnings + address sanitizer
2021-05-27 22:24:23 +02:00
j-kuehn
67fe4faa30
allow to consider specific joints only in cost terms
2021-05-25 15:47:18 +02:00
Robert Haschke
84ccd679d9
Fix compiler warnings
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unused parameters and functions
2021-05-19 21:54:48 +02:00
Robert Haschke
94ff53e11e
Fix catkin_lint warning
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include paths 'motion_planning_tasks/src' and 'motion_planning_tasks' are ambiguous
2021-05-19 17:10:50 +02:00
Robert Haschke
74ece5daf7
GHA: Fix coverage testing
2021-05-19 17:10:50 +02:00
v4hn
7eb8fad57e
remove unused helper method
2021-05-12 19:21:19 +02:00
v4hn
f7015ee021
fix pick_ur5 test
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TAMS' models changed and often produces less solutions.
2021-05-12 19:21:19 +02:00
j-kuehn
d71c645d83
add visualization for Point goals ( #264 )
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- move visualization from `getPoseGoal` to `compute`
- create target frame from `target_eigen` to allow visualization from Pose and Point goals
2021-05-11 10:53:15 +02:00
j-kuehn
ba0b4f6146
Improve arrow visualization for MoveRelative stage ( #255 )
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Implement visualization as red-green arrow
* overload makeArrow to allow creation with points
* create new function for visualization
* if no plan is found, construct arrow from green cylinder and red arrow
* adjust arrow construction for backward propagators
2021-05-03 21:29:05 +02:00
Michael Görner
93d95e394f
Merge pull request #261 from ubi-agni/GHA
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Switch to GitHub actions
2021-05-03 11:27:33 +02:00
Robert Haschke
cfcb1f274e
Fix more clang-tidy issues
2021-04-24 02:12:24 +02:00
Robert Haschke
4fa8c10f44
clang-tidy auto-fixes
2021-04-24 02:03:24 +02:00
Robert Haschke
889b61529b
Fix trailing white space
2021-04-23 23:49:50 +02:00
Robert Haschke
181cc492d4
Fix catkin_lint errors
2021-04-23 23:49:50 +02:00
Robert Haschke
cc5f1ad934
Switch CI to GitHub Actions
2021-04-23 23:49:50 +02:00
Robert Haschke
dc8cd34b86
Simplify tests
2021-04-01 00:21:07 +02:00
v4hn
4e09d78239
Implement pruning inside-to-outside of a container
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- Remove public onNewFailure() interface
Moved to ContainerBasePrivate to reuse logic for serial and parallel containers.
- Add tests
2021-04-01 00:19:15 +02:00
Michael Görner
8d25e794bc
Update README.md
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CostTerm API was implemented
2021-03-30 21:21:43 +02:00
v4hn
472a78800d
implement bimap for internal_external state map
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Get hashing for inverted lookups, but incur
structural overhead.
Whether this is worth it depends on the number of mapped interface states
and the number of pruning/reactivation requests.
2021-03-30 15:19:49 +02:00
Robert Haschke
0e3ec0b6ec
fix constness
2021-03-30 15:19:49 +02:00
v4hn
106c138ef5
Implement pruning inside serial container
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By inefficient inverse lookup.
Also add disabled test for the inverted inference (failure inside should prune outside)
2021-03-30 15:19:49 +02:00
Michael Görner
36d9d3e8c0
Rework PipelinePlanner creation ( #249 )
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- Moved Task::createPlanner into PipelinePlanner::create
- Handle mutiple planner pipeline configs as introduced in https://github.com/ros-planning/moveit/pull/2127
2021-03-29 12:00:28 +02:00
Robert Haschke
4ee71881ae
Rework Pruning ( #221 )
2021-03-23 13:04:38 +01:00
Michael Görner
f2958a4a0b
Explicitly instantiate PropagatingEitherWay::send<> templates ( #246 )
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Otherwise compiler was optimizing (inlining) them away.
2021-03-23 11:37:30 +01:00
v4hn
b7f80939ef
add more asserts to onNewSolution
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Strictly speaking there is no need for the invariant,
but if something violates it a stage computed something it wasn't meant to.
2021-03-22 14:42:23 +01:00
v4hn
3b6c13e26b
only run propagators on enabled solutions
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resolve simple pruning test
2021-03-22 14:42:23 +01:00
v4hn
3e5e1da429
add (failing) simple pruning test
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to validate propagators do not compute disabled solutions.
It's also good to have a simpler test around than 2 connects.
2021-03-22 14:42:23 +01:00
v4hn
9cf3c01b9a
pruning tests: restructure tests
2021-03-22 14:42:23 +01:00
v4hn
be1c8292b5
add more (commented-out) debug statements
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Also print generator symbol for completeness.
2021-03-22 14:42:23 +01:00
v4hn
e33962364d
resolve PruningMultiForward test
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Every InterfaceState along the partial solution has to be disabled
for pruning, not just the ends that are currently relevant.
2021-03-22 14:42:23 +01:00
v4hn
f8f885966e
add failing pruning test for branching propagator
2021-03-22 14:42:23 +01:00
v4hn
a82b88355e
streamline trait parameters
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state asked for a reference, but trajectories for a pointer.
2021-03-22 14:42:23 +01:00