Commit Graph

525 Commits

Author SHA1 Message Date
Robert Haschke
5c235ab580 debugging helper function 2021-11-22 01:39:45 +01:00
Robert Haschke
dcb6857f36 Simplify computePropagate()
- Drop variable current_external_state_
- Instead encode the info that the external state wasn't yet forwarded to any child via stage = children().cend()
- If all children have exhausted their solutions for this state, it is removed from the pending list
2021-11-22 01:39:45 +01:00
Robert Haschke
c33b1967bc Handle updates on external states 2021-11-22 01:36:34 +01:00
Robert Haschke
e5b20ac11f Fix pruning
Pruning - if acting on the external state - needs to pass the current stage (this).
2021-11-22 01:36:34 +01:00
Robert Haschke
6653c4853a Rename: computeFromExternal -> computePropagate 2021-11-22 01:36:34 +01:00
Robert Haschke
b783173b27 GENERATE: return correct canCompute() result as early as possible
Moving to next child generator only in compute() requires an extra call
to canCompute() to notice the failure of the next generator(s).
2021-11-22 01:35:34 +01:00
v4hn
887da5b094 fix fallbacks logic
Setting up a demo for
Fallbacks({CartesianPath,PTP,RRTConnect})
I found the logic did not work as expected yet.

- process last job spec as well
- ignore failures when looking for a solution
- add more debug output
2021-11-15 09:29:09 +01:00
v4hn
22809c04a5 order external states 2021-11-15 09:29:09 +01:00
v4hn
9a583ab006 run only one compute step per call
Note that while this ensures other stages outside the Fallbacks container
can compute as well, it does not solve the problem internally.
A new incoming state will only ever be considered once
the current stage cannot compute any more.

We have no way of telling a child to compute for *a specific state* for now.
So once we copied a state to its interface we have to let it compute until
all possibilities are exhausted to detect whether or not it could generate a solution for it.
If we wouldn't do so, there were no way of knowing when to fall back
to the next child as long as the stage can still compute on *any* copied solution.
2021-11-15 09:29:09 +01:00
v4hn
5a9cfc50ea cleanup: get rid of superfluous parameter 2021-11-15 09:29:09 +01:00
v4hn
aa733fcf5f simplify onNewFailure
give an elaborate reason for an empty overload that doesn't call the parent.
2021-11-15 09:29:09 +01:00
v4hn
3d5cecd753 fallback generator can run a single job per compute call 2021-11-15 09:29:09 +01:00
v4hn
8719b1c3d6 Implement state-wise Fallbacks
Keep the previous logic around for Generator stages.
Note that this only makes sense for *pure* Generators and not for MonitoringGenerator,
because for the latter we would expect monitored solutions to be passed individually
(similar to pruning).
2021-11-15 09:29:09 +01:00
v4hn
f32e747645 add hook to ParallelContainerBase to customize state propagation 2021-11-15 09:29:09 +01:00
v4hn
3b835986e3 refactor logic to handle ik_frame
fallbacks and verification.
2021-11-12 14:02:46 +01:00
v4hn
f1fc447e3b establish utils namespace
leaves us a place to put free helper functions
2021-11-10 14:36:58 +01:00
v4hn
48959c6806 add compat header to cmake
previous oversight
2021-11-10 14:35:25 +01:00
v4hn
ef27a6eb22 ComputeIK supports attached-object ik frame 2021-11-10 13:14:04 +01:00
v4hn
e1216aa8ab MoveTo supports attached objects&subframes for ik frame 2021-11-10 13:14:04 +01:00
v4hn
86fe752d43 InterpolationPlanner: implement simple IK-based solver for pose targets 2021-11-10 13:12:21 +01:00
v4hn
dfe746b9bb FixedState: add optional scene in constructor 2021-11-10 13:12:21 +01:00
Robert Haschke
d6f68f9254 Simplify code
We know that trajectory at least comprises the start state.
Thus, we don't need the sanity checks.
2021-11-10 12:11:39 +01:00
Michael Görner
7ec874572c move to tf2_eigen everywhere (#301) 2021-10-18 23:34:29 +02:00
Robert Haschke
9da3a8055e Optimize setStatus(): only escalate to parent interface at boundaries of a partial solution
In all other cases internalToExternalMap().find(s) will fail anyway.
2021-09-20 23:07:00 +02:00
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
Robert Haschke
d0ab3c3703
Improve readability of internal-external bimap using tags (#293) 2021-09-16 13:52:34 +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
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
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
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
unused parameters and functions
2021-05-19 21:54:48 +02:00
j-kuehn
d71c645d83
add visualization for Point goals (#264)
- 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)
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
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
v4hn
4e09d78239 Implement pruning inside-to-outside of a container
- 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
v4hn
472a78800d implement bimap for internal_external state map
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
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)
- 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