Robert Haschke
5f6d716a57
CI: update actions
2022-11-01 23:50:21 +01:00
Wyatt Rees
1e65027b26
Add MoveIt IK cost function to Cartesian path solver ( #375 )
2022-07-21 20:00:30 +02:00
Robert Haschke
3b438f9b1c
Merge ROS1 fixes
2022-06-15 16:44:38 +02:00
Jafar
e923fbc0c6
Fix Task's move constructor ( #371 )
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* Add unit test
* Fix TaskPrivate's move assignment operator
* Slightly simplify code
Co-authored-by: Robert Haschke <rhaschke@techfak.uni-bielefeld.de>
2022-06-14 22:13:19 +02:00
Wyatt Rees
60229db010
Add KinematicsQueryOptions property in CartesianPath solver ( #370 )
2022-06-03 19:39:51 +03:00
JafarAbdi
d6284ea63c
Remove macros to check supported features
2022-05-26 21:58:48 +00:00
JafarAbdi
11b81856d5
Merge d2918f130d
2022-05-26 21:58:24 +00:00
Jafar
0128cd9250
Use moveit_configs_utils for launch files ( #365 )
2022-05-26 19:29:08 +03:00
Stephanie Eng
d1fb6ace93
Fix parameter in ik_clearance_cost demo ( #366 )
2022-05-25 18:12:59 +03:00
Tyler Weaver
a89d9928d4
Add launch_testing_ament_cmake as a test depend ( #364 )
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Signed-off-by: Tyler Weaver <tyler@picknik.ai>
2022-05-24 16:23:14 +03:00
AndyZe
9908086d4a
Fix Eigen build issues on some platforms ( #362 )
2022-05-16 18:03:59 +03:00
AndyZe
36459e3869
Alphabetize package.xml's and CMakeLists
2022-05-09 08:06:15 -05:00
Robert Haschke
d2918f130d
Pruning: Relax too strong assertion: PRUNED => !ARMED ( #340 )
2022-05-08 11:56:17 +02:00
Robert Haschke
9026ac8746
Make TimeParamerization configurable ( #339 )
2022-05-08 11:54:05 +02:00
Henning Kayser
3eb8984b3c
Remove Galactic CI job
2022-05-04 12:40:07 -05:00
JafarAbdi
dfb5769b0d
Fix rolling compatibility with jammy
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Fix compile warning
Update clang-format version to 12
2022-05-04 12:40:07 -05:00
JafarAbdi
8d3b66e98c
rviz_marker_tools: Fix dependencies
2022-05-04 12:40:07 -05:00
Stephanie Eng
27672f8e2d
Update black version ( #347 )
2022-03-29 19:32:33 +02:00
Stephanie Eng
8beb0f4243
Update black version ( #348 )
2022-03-29 18:59:20 +03:00
Robert Haschke
096c671887
Pruning: Relax too strong assertion: PRUNED => !ARMED
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If two Connect stages are sequenced, both sides can become ARMED.
However, that means that the wave of PRUNED status updates, shouldn't
overwrite a present ARMED state.
Added unit test.
2022-03-04 15:01:19 +01:00
Robert Haschke
8d7225d3b6
Connect: better document suppressing recursive loop
2022-03-04 15:01:19 +01:00
v4hn
6d104e837e
polish: FixedState supports collision checking
2022-03-04 14:41:00 +01:00
v4hn
0a3dd3a314
properly set comment markAsFailure without prior comment
2022-03-04 14:39:53 +01:00
Robert Haschke
5310f9063a
operator<< for Interface::Direction
2022-03-04 13:13:01 +01:00
Robert Haschke
ee7cec2aab
FixedState: ignore_collisions=false
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Check collisions for FixedState's scene and report failure if needed.
Optionally, disable the check via the property ignore_collisions=true.
2022-03-03 17:01:34 +01:00
Robert Haschke
ca38d11303
Enable InterfaceState's copy operator
2022-02-02 20:51:58 +01:00
Robert Haschke
b2c990b675
core: export rviz_marker_tools dependency
2022-01-07 14:35:15 +01:00
Robert Haschke
c7b2067b86
Merge PR #309 : Fix Pruning
2022-01-05 20:19:51 +01:00
Robert Haschke
5956e70956
Merge PR #311 : fix Fallbacks
2022-01-05 19:49:38 +01:00
Robert Haschke
4cc1f567d6
FallbacksPrivateConnect
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Implement Fallbacks behavior for children of type Connecting.
All other connect-like children are currently infeasible to handle,
because we cannot forward a single job, i.e. a pair (from, to)
to the next child, but only individual states.
However, passing states, will cause creation of undesired state pairs
as jobs in subsequent children.
2022-01-05 18:16:34 +01:00
Robert Haschke
7a04a9f603
ParallelContainerBasePrivate::propagateStateTo*All*Children
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rename method to emphasize that state updates are propagated to all children
2022-01-05 16:45:57 +01:00
Robert Haschke
986d3c8766
FallbacksPrivateCommon: shared between Generator + Propagator
2022-01-05 16:45:57 +01:00
Robert Haschke
b82b70ed64
FallbacksPrivate::nextChild()
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... factoring out functionality shared between FallbacksPrivateGenerator
and FallbacksPrivatePropagator to switch to next child in nextJob().
2022-01-05 16:37:46 +01:00
Robert Haschke
7af3d8ebd7
Improve readability
2022-01-05 16:37:46 +01:00
Robert Haschke
b2c116edab
reset(new Interface()) -> std::make_shared<Interface>()
2022-01-05 16:37:46 +01:00
Robert Haschke
442d39ad3e
Improve comments
2022-01-05 16:37:46 +01:00
Robert Haschke
b2056745a8
Generalize connectStageInsideFallbacks
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Let's consider the following simple situation, where generators produce solutions in the given order.
GEN 1 3
Fallbacks |X
GEN 2 4
When passing state 4 to the Fallbacks' connector, it forms pending pairs with both 1 and 3.
Thus, the container needs to check whether 1-4 or 3-4 was processed when receiving a success or failure,
to correctly forward the failed one to the next child.
2022-01-05 16:37:46 +01:00
Robert Haschke
184fab8e0a
GeneratePlacePose: add property 'allow_z_flip'
2022-01-04 15:58:19 +01:00
Robert Haschke
9630f4d789
ComputeIK: Improve markers
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- always provide eef markers (also in case of success)
- tint failures in red
- use different names for "ik frame" and "target frame" markers
- reduce code duplication
2022-01-04 15:57:34 +01:00
Jafar Abdi
7dbe0b87e1
Return MoveItErrorCode from task::plan ( #319 )
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... to know whether the plan failed due to timeout, preemption, or actual planning failure
2022-01-02 15:32:37 +01:00
Jafar Abdi
3a30e498bf
execute_task_solution_capability: check for canceling request before canceling the goal handle ( #321 )
2021-12-22 14:13:36 +01:00
Michael Görner
f9c0a894f9
Merge pull request #320 from v4hn/pr-master-fix-move-rel-ikframe
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Fix using IKFrame with MoveRelative
2021-12-20 10:40:12 +01:00
v4hn
84f96ec74c
MoveRelative: Interpret direction relative to IKFrame
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bugfix
2021-12-20 10:19:52 +01:00
v4hn
191ff253fd
add tests for MoveRelative
2021-12-20 10:19:52 +01:00
Robert Haschke
4be448641f
Improve debug output
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- printChildrenInterfaces(): fix/add usage
- printPendingPairs(): full colorization according to status
2021-11-28 18:28:20 +01:00
Henning Kayser
98ced788c8
ROS 2 Migration ( #170 )
2021-11-26 12:59:31 +01:00
Robert Haschke
0587129916
CI: asan with debug symbols
2021-11-25 22:02:21 +01:00
JafarAbdi
71a604cda0
Add ROS1 to ROS2 migration guide
2021-11-25 23:02:54 +03:00
JafarAbdi
a90eac5a78
Port demo to ROS2
2021-11-25 23:02:54 +03:00
JafarAbdi
29703d0d6a
Port visualization to ROS2
2021-11-25 23:02:54 +03:00