Commit Graph

1413 Commits

Author SHA1 Message Date
Robert Haschke
5d2857be6b Merge branches 'simplify-node-creation' and 'master' into ros2 2024-05-24 14:39:38 +02:00
Captain Yoshi
a0c00646c2
Add NoOp stage (#534)
This stage can be used to add arbitrary user-defined properties w/o modifying the PlanningScene state or adding a trajectory.

Co-authored-by: Robert Haschke <rhaschke@techfak.uni-bielefeld.de>
2024-05-24 14:34:27 +02:00
Robert Haschke
54e653ebdb Fix failing assertion
The cost of a newly created Priority does not need to be finite.
An example occurs in the Pick+Place demo: the CurrentState solution
is filtered by an applicibility test, which may set the cost to infinity
while lifting the solution to the wrapper stage.
In this case, new InterfaceStates are created from the infinite cost solution.
Consequently, the state should be marked as PRUNED.
2024-05-24 12:02:20 +02:00
Robert Haschke
9c05305eff ModifyPlanningScene: check state for collisions 2024-05-24 10:49:14 +02:00
Robert Haschke
a8896e4e5d Improve TypeError exceptions
- use pybind11 API instead of Python C API
- provide more informative error messages
2024-05-23 14:08:49 +02:00
Robert Haschke
74b1e5e5d3 CI: prerelease.yaml: make ROS_DISTRO an interactive input 2024-05-23 14:08:49 +02:00
Robert Haschke
8ede80d26d Example of constrained orientation planning 2024-05-23 14:08:49 +02:00
Robert Haschke
92b917d264 CI: update actions 2024-05-23 14:08:49 +02:00
Robert Haschke
e2812d9333 Drop Kinetic support 2024-05-23 14:08:49 +02:00
Robert Haschke
9fd2f1f858 Drop Melodic support
- py_binding_tools is released into Noetic only
- drop Python2 support
- drop TYPED_TEST_CASE
2024-05-23 14:08:49 +02:00
Robert Haschke
405755595a Switch to package py_binding_tools 2024-05-23 14:08:49 +02:00
Captain Yoshi
ad19ea5479
Add ability to move CollisionObjects (#567) 2024-05-12 11:03:47 +02:00
Robert Haschke
046309d60a Simplify rclcpp::Node creation
Directly pass node name and namespace instead of using options.
2024-05-08 10:19:28 +02:00
Sebastian Castro
819e560ed4
Improve description of max_distance property of Connect stage (#564) 2024-05-05 19:30:36 +02:00
Robert Haschke
6b0f2c872f rviz_marker_tools: add missing dependency on urdfdom 2024-04-02 10:38:39 +02:00
Daniel García López
560aa0a476
Add Generator::spawn(from, to, trajectory) variant (#546) 2024-03-20 15:32:15 +01:00
Sebastian Jahr
5ae22da8db fixup! Add planner_id to SubTrajectory info (#490) 2024-03-19 14:51:35 +01:00
Robert Haschke
e1b891ba5a Fix mtc.rviz config 2024-03-13 11:18:25 +01:00
Sebastian Jahr
0c4b4fcaa8 Print warning if no controllers are configured for trajectory execution (#514) 2024-03-09 13:35:02 +01:00
Robert Haschke
739375298a Merge branch master into ros2 2024-03-09 13:34:36 +01:00
Robert Haschke
55c4b52b13 Cosmetic fixes 2024-03-09 11:11:01 +01:00
Robert Haschke
795bde7b62 Fix Solution::fillMessage() (#432)
The scene_diff field usually describes PlanningScene changes of the end scene relative to the start scene.
For backwards planning, this direction is reversed: the start scene is derived from the end scene.
Thus, we need to generate a full planning scene message for the end scene if planning progressed backwards.

Fixes #405.
2024-03-08 17:31:52 +01:00
Robert Haschke
2450127eb5 Clear JointStates in scene diff before execution
Joints are handled in trajectories.
Scene diffs should not modify joints during execution.
Fixes #353.

Alternative to #504. The previous solution, to always clear the joint states
during message generation, broke the visualization in rviz.
2024-03-08 17:16:19 +01:00
Robert Haschke
5a8925df11 Revert "Disable MPS tests, failing due to #432"
This reverts commit 5382338933.
2024-03-08 17:16:19 +01:00
Robert Haschke
4aac679257 Fix generation of Solution msg: consider backward operation
Need to generate full planning scene message if planning progressed backwards:
The scene_diff field describes PlanningScene changes of the end scene relative to the start scene,
while during planning it might be inversed.
2024-03-08 17:16:19 +01:00
Robert Haschke
5a42ca0ef8 CI: update action versions 2024-03-08 11:32:27 +01:00
Abishalini
e09fecd71f Propagate errors from planners to solution comment (#525) 2024-03-08 11:13:10 +01:00
Abishalini Sivaraman
5dd170b849 Add planner info to comments (#523) 2024-03-07 21:19:27 +01:00
TipluJacob
9b4c76076b Fix missing configs in demo launch files (#509) 2024-03-07 21:17:41 +01:00
Sebastian Jahr
f661c18e69 Fix MTC unittests for new pipeline refactoring (#515) 2024-03-07 20:53:45 +01:00
Mario Prats
11c3126052 Update to the more recent JumpThreshold API (#506) 2024-03-07 20:35:03 +01:00
Michael Wiznitzer
0827a0d260 JointInterpolationPlanner: Check joint bounds (#505) 2024-03-07 20:33:43 +01:00
Robert Haschke
d0a904c313 Add property trajectory_execution_info (#355, #502)
... to pass a list of controller names to PlanExecution

---------

Co-authored-by: Luca Lach <llach@techfak.uni-bielefeld.de>
2024-03-07 20:01:03 +01:00
JafarAbdi
c11a34a935 ExecuteTaskSolutionCapability: Reject new goals when busy (#496)
- Rename goalCallback() -> execCallback()
- Run execCallback asynchronously and use future to know status of execution
2024-03-07 16:01:15 +01:00
Robert Haschke
8695def99d ExecuteTaskSolutionCapability: Rename goalCallback() -> execCallback() 2024-03-07 14:36:43 +01:00
Robert Haschke
a75d50e0ed Clear JointStates in scene diff (#504)
Joints are handled in trajectories.
Scene diffs should not modify joints during execution.
Fixes #353.
2024-03-07 12:23:07 +01:00
Sebastian Jahr
b0f388a88f Set a non-infinite default timeout in CurrentState stage (#491)
Co-authored-by: Mario Prats <mario.prats@picknik.ai>
2024-03-07 12:23:07 +01:00
Robert Haschke
48ca3d46f6 rviz_marker_tools: drop rviz dependency 2024-03-07 12:23:07 +01:00
Henning Kayser
111d9ba207
Add GenerateRandomPose stage (#166)
Implements a generic pose randomizer

Co-authored-by: JafarAbdi <cafer.abdi@gmail.com>
Co-authored-by: Sebastian Jahr <sebastian.jahr@picknik.ai>
Co-authored-by: Robert Haschke <rhaschke@techfak.uni-bielefeld.de>
2024-03-06 22:32:13 +01:00
Sebastian Jahr
1e058598c7 Add planner_id to SubTrajectory info (#490) 2024-03-06 18:11:57 +01:00
Sebastian Jahr
ed70497d33 Remove display_motion_plans and publish_planning_requests properties (#489) 2024-03-06 15:59:39 +01:00
Sebastian Jahr
0e02fcae77 Enable parallel planning with PipelinePlanner (#450)
* 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
2024-03-06 15:59:09 +01:00
Captain Yoshi
911bc67c4d
GenerateGraspPose: Expose rotation_axis as property (#535) 2024-03-06 11:02:44 +01:00
Captain Yoshi
5720b83dce
Connect: ensure end-state matches goal state (#532) 2024-02-25 16:58:56 +01:00
Michael Görner
7638e5ff8b
Merge pull request #495 from ubi-agni/debug-#485
[WIP] Debug/Fix #485
2024-02-16 12:27:36 +01:00
Robert Haschke
275c15422d Adaptions for https://github.com/ros-planning/moveit/pull/3534
make_box() is a public method now
2024-02-15 22:20:34 +01:00
Robert Haschke
e163f57f9c Cleanup debug output 2024-02-15 21:42:18 +01:00
Robert Haschke
9dfd6bd2eb Fix duplicate solutions
When adding pending state pairs for a new incoming state to Connect,
we have to re-enable opposite states from ARMED state.
This changes the order of states in the interface.
If we do this while iterating over the states, we might add pairs multiple times,
because iteration continues with same state at an earlier position.
2024-02-15 21:42:18 +01:00
Robert Haschke
bf2714b42d printPendingPairs(os) -> os<<pendingPairsPrinter() 2023-10-25 22:21:36 +02:00
Robert Haschke
13264ba21d Fix leaking of failures into enumerated solutions 2023-10-25 22:21:36 +02:00