Commit Graph

661 Commits

Author SHA1 Message Date
Robert Haschke
5944c21016
Add qtbase5-dev build dependency (#142) 2020-03-05 08:04:50 +01:00
Robert Haschke
9ee653453d Container: abort traversal with false return value of processor
So far, returning false from the processor function, just skipped further traversing the current child (depth-wise).
Now, traversal is completely aborted, even not traversing the remaining siblings of the current child.
Having a single boolean return value, we cannot distinguish both cases.
We need the new behaviour for 8061945c15bea22e8f8899c987bc28e3542885aa.
2020-03-03 17:57:06 +01:00
Robert Haschke
5037bc77e7 Use public API only in visualization package 2020-03-03 17:57:06 +01:00
Mark Moll
0d6f79050a don't install PIMPL header files (#119) 2020-03-03 17:21:54 +01:00
Markus Vieth
534d520a04
Add return value to Task::execute (#136) 2020-02-20 11:31:51 +01:00
Robert Haschke
c44d0cac19 workaround for MoveIt PlanningScene bug
https://github.com/ros-planning/moveit/issues/1835
2020-02-18 09:31:48 +01:00
Robert Haschke
bcc652b6e8 cleanup demo 2020-02-18 09:30:27 +01:00
Aris Synodinos
8ac9957b55
Added C++11 flags for MOVEIT_MASTER check (#129) 2020-02-12 21:59:33 +01:00
Robert Haschke
7cda8e38d6 add missing Ogre includes 2020-02-06 17:31:10 +01:00
Robert Haschke
46805e2666 Fixup: avoid deprecation warnings of MoveIt master branch
Fixes missing definition of MOVEIT_MASTER for capabilities packages
in 233d63aa7a
2020-02-06 17:29:51 +01:00
Robert Haschke
919531bc29 shorten description of trajectory component
info's id and stage_id are not always filled
2020-02-06 17:29:51 +01:00
Robert Haschke
463486257b Merge #120: Add computation timing 2020-02-06 16:18:49 +01:00
Jafar Abdi
fa9b177575 transmit and display computation in rviz 2020-02-06 16:18:20 +01:00
Jafar Abdi
aa11b66824 use runCompute() 2020-02-06 16:17:55 +01:00
Jafar Abdi
89fea00b33 Stage::runCompute() to measure computation time 2020-02-06 16:17:04 +01:00
Rajendra Singh
8588deb202 Printing success log only if execution completes
Previous code will print/log "Execution complete" even if the execution was disabled.
2020-02-05 13:18:33 +01:00
Rajendra Singh
de79dedbfc
Generalised code for object_name
Previous code was generating the error on changing object_name in config/panda_config.yaml file because of this bug as here we are overwriting the object_name as "object" which brought the inconsistency in code.
2020-01-16 19:05:53 +05:30
Robert Haschke
ef6cb1a746 TaskPanel: execute selected solution 2020-01-11 09:15:11 +01:00
Robert Haschke
ba815cff34 Task: don't publish solutions by default
Having multiple solutions, automatic publishing of intermediate solutions is confusing.
One never knows, which one is the final one. If desired, the user should setup a hook for this.
2020-01-11 09:00:34 +01:00
Henning Kayser
c1f6ca8e84 Expose SolutionCallback API in Task (#121) 2020-01-11 08:33:57 +01:00
Luca Lach
513ba80d14 add ExecuteTaskSolutionCapability to move_group (#118) 2020-01-08 11:01:41 +01:00
v4hn
233d63aa7a avoid deprecation warnings of MoveIt master branch
Use new methods
- moveit::core::isEmpty
- moveit::core::CartesianInterpolator::computeCartesianPath
2019-12-13 11:29:02 +01:00
Tyler Weaver
e4920ce26c Travis: re-enable master build, enable code-coverage (#109) 2019-12-03 14:22:01 +01:00
Robert Haschke
acddc268ed compatibility to MoveIt master branch 2019-11-27 17:43:57 +01:00
Robert Haschke
47a9929608 "cartesian" demo: add an example stage for relative joint-space offsets 2019-11-26 21:08:31 +01:00
Robert Haschke
a070524860 Enable infinite number of repetitions for "modular" demo
Using a joint-space interpolator to move back to start pose,
we avoid pose drift in the Cartesian loop, which pushes the robot
into its joint limits over time. Fixes #113.
2019-11-26 21:08:31 +01:00
Robert Haschke
3887b32ba1 fix MoveRelative::getJointStateFromOffset
Fix for #114: Accessing variable indexes was screwed.
2019-11-26 21:08:31 +01:00
Aris Synodinos
145bec1ed3 Added cost calculation in move_relative (#108) 2019-11-05 17:38:25 +01:00
Robert Haschke
ff297d2929 more tutorial demos 2019-11-02 22:05:58 +08:00
Robert Haschke
facdc8e278 update RobotState in getJointStateGoal() 2019-11-02 22:02:56 +08:00
Robert Haschke
1ba4bc4508
MoveTo/MoveRelative: report failure on invalid trajectories (#107) 2019-10-22 12:06:11 +02:00
v4hn
6764b2a9ca demo: add 'execute' parameter
useful for testing parameters
2019-10-22 11:06:51 +02:00
simonGoldstein
232ef5e03e Demo package for tutorial (#104)
Co-Authored-By: Henning Kayser <henningkayser@picknik.ai>
Co-Authored-By: Robert Haschke <rhaschke@techfak.uni-bielefeld.de>
2019-10-08 17:30:45 +02:00
Robert Haschke
82e9c22e42 Travis: disable build against MoveIt master
... due to API incompatibilities
2019-09-30 20:19:36 +02:00
Robert Haschke
ddd8c54b7d Travis: use Xenial image 2019-07-26 11:07:04 +02:00
Robert Haschke
975491fba9 Fixup: adding cost calculations to connect and move_to 2019-07-26 11:05:52 +02:00
Robert Haschke
4225671ae4 PipelinePlanner: always forward trajectory
(also in case of failure)
2019-07-19 13:45:07 +02:00
Robert Haschke
6ff1a5162f Fixup: adding cost calculations to connect and move_to
Need to handle nullptr trajectories.
2019-07-19 13:45:07 +02:00
Michael Görner
f7b259259e Introduce clang-format (#102)
* fix catkin_lint issues
* introduce clang-format config and apply it
2019-07-18 11:04:35 +02:00
Tyler Weaver
7ca49bc29b adding cost calculations to connect and move_to 2019-07-12 20:29:08 +02:00
Michael Görner
1783587f41 add missing header (#100)
... for Qt 5.12.3
2019-07-12 17:25:10 +02:00
v4hn
0b47224ef1 micro-fix whitespace
Let's use clang-format...
2019-07-12 13:51:21 +02:00
Robert Haschke
57acd747c5 Travis: Use ros-shadow-fixed repository
We rely on libmoveit_test_utils, which is only released in 1.0.2.
2019-07-12 12:42:49 +02:00
Robert Haschke
345c183d06 remove redundant nullptr checks before delete 2019-06-04 14:20:47 +02:00
Robert Haschke
95455c2a26 fix Task::operator=(Task&&)
To move a task instance to another one, it's not sufficient to swap all task members,
but we also need to adapt all back pointers, i.e. me_ and parent_ pointers of children,
to point to the (swapped) task instances.
2019-06-04 14:20:47 +02:00
Robert Haschke
26f679bd8e relax assertion 2019-05-16 18:12:20 +02:00
Robert Haschke
6cf0cbb4c9 improve comments 2019-05-16 18:02:08 +02:00
Robert Haschke
44a75f689b Travis: build against MoveIt master too 2019-05-10 15:09:55 +02:00
Michael Görner
267c214288 Overload setGoal to accept map of joint values as argument (#87) 2019-05-10 14:41:46 +02:00
Robert Haschke
fee73bcd78 Merge branch 'fix-interface-deduction' into master 2019-05-03 01:53:57 +02:00