Commit Graph

977 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
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
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
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
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
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
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
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
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
Robert Haschke
7b965863e3 Add more debugging output
- Add Stage::introspection() accessor
- Introspection: debug-log solution registration
- RemoteSolutionModel: show internal solution id as tooltip in 1st column
2023-10-25 22:19:49 +02:00
Robert Haschke
08b102d5b0 Unit tests for #485 2023-10-20 09:23:32 +02:00
Robert Haschke
605a1e5419 DelayingWrapper stage to delay solution shipping in unit tests 2023-10-20 09:23:32 +02:00
Robert Haschke
0fd989cb27 Simplify tests 2023-10-13 00:25:39 +02:00
Michael Görner
dcde89d4d5
Skip Fallbacks::replaceImpl() when already correctly initialized (#494)
Do not reinitialize a Fallbacks' pimpl if it already serves the desired interface.
2023-10-11 14:45:24 +02:00
Michael Görner
ab4bb40dfd
Fix demos (#493)
* improve demo rviz config
  - orbit view centered at workspace instead of 2d orbit
  - REALTIME trajectory display
* FixedState: setter for ignore_collisions property
* Fix clearance_cost demo
  - verify default state
  - use model frame over virtual "world" which is not known in fresh PlanningScene
  - ignore initial collisions with the IK seed
* improve documentation in Fallbacks demo
2023-10-11 14:30:54 +02:00
Robert Haschke
647f3ec413 Limit time to wait for execute_task_solution action server 2023-09-18 10:35:23 +02:00
Robert Haschke
349e3c6c6c Merge branch master into ros2 2023-05-26 16:38:15 +02:00
Robert Haschke
c605a0059a Replace namespace robot_[model|state] with moveit::core 2023-05-26 01:18:17 +02:00
Robert Haschke
6f7282423d MPS: fixup processCollisionObject
- 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
2023-05-26 01:15:50 +02:00
Robert Haschke
3ec69fb59d
Merge PR #460: improvements to ModifyPlanningScene stage 2023-05-25 22:29:31 +02:00
Robert Haschke
5382338933 Disable MPS tests, failing due to #432 2023-05-25 21:52:07 +02:00
Robert Haschke
78da3e46e6
Gracefully handle NULL robot_trajectory (#469) 2023-05-25 17:49:23 +02:00
JafarAbdi
45ff3ea437 Improve cmake
- Modernize
- Add include folder for INSTALL_INTERFACE
2023-05-25 17:05:45 +02:00