Michael Görner
4e3ff57926
switch CI ccov job to Debug build ( #290 )
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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
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so that it becomes obvious which condition triggered it.
2021-09-01 14:53:52 +02:00
v4hn
fa8d21741c
print debug message in runCompute
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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
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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
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... 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
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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
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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
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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
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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