* Print warning if no controllers are configured for trajectory execution
* Apply suggestions from code review
Co-authored-by: Sebastian Castro <4603398+sea-bass@users.noreply.github.com>
* Apply suggestions from code review
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Co-authored-by: Sebastian Castro <4603398+sea-bass@users.noreply.github.com>
* Add "controllers" property to Stage and pass them to PlanExecution #123
* Change new property from controller names string to TrajectoryExecutionInfo
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Co-authored-by: Luca Lach <llach@techfak.uni-bielefeld.de>
* Run goalCallback in a seperate asynchronously
* Clang-tidy fixes
* Replace std::bind with lambdas
* Add comment
* Format
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Co-authored-by: JafarAbdi <cafer.abdi@gmail.com>
* Refactor pipeline planner
Make code readable
Re-order plan functions
Make usable with parallel planning
Enable configuring multiple pipelines
Add callbacks
Cleanup and documentation
Add API to set parallel planning callbacks and deprecate functions
Pass pipeline map by reference
Small clang-tidy fix
Update core/src/solvers/pipeline_planner.cpp
Co-authored-by: Sebastian Castro <4603398+sea-bass@users.noreply.github.com>
Update core/src/solvers/pipeline_planner.cpp
Format
Refactor to avoid calling .at(0) twice
Use no default stopping criteria
Update fallbacks_move demo
* Cleanup + address deprecation warnings
* Enabling optionally using a property defined pipeline planner map
* Address review
* Disable humble CI for ros2 branch
* Add pipeline planner unittests + some checks
* Add short comment
- Declare CollisionObject argument as constant:
Internally the argument is temporarily modified, but for a caller it is effectively const.
- Correctly restore the old operation mode
- Fixup check in unit test
This method was only doing half of the job, namely adding subsolutions
to the message fields. However, the start_scene was not yet written.
This was handled manually in some but not all callers.
To avoid this inconsistency, the new method toMsg() takes care of both
actions now, while the old fillMessage() method was renamed to appendTo().
MoveIt passes the effort field of the last trajectory point as the max_effort for a GripperCommand.
Thus we pass the max_effort property to the effort field of the trajectory's last waypoint.