Commit Graph

875 Commits

Author SHA1 Message Date
Michael Görner
5f00f6026f
update travis config (#152)
- change old keys
- add clang compiler for master build
2020-04-01 17:05:02 +02:00
v4hn
07f62aa72f add override in Task
I very much considered just removing the protected inheritance again,
but it would add unnecessary code duplication.

Take note, the overriding `insert` function bypasses the Wrapper and directly forwards to the wrapped container.
This is somewhat dirty and could be an issue for anyone inheriting from `Task`.
2020-04-01 15:05:20 +02:00
v4hn
7cd82d5c04 resolve clang warnings & suggestions 2020-04-01 15:05:20 +02:00
v4hn
8578a64ac0 correct sign for StageCallback type
backward compatible, the function type implicitly converts from previous int definitions.
2020-04-01 15:05:20 +02:00
v4hn
cc86dd8a74 rename Task::erase -> eraseTaskCallback
`erase` is too general for a container class,
when it's not actually about erasing children or the container itself.
2020-04-01 15:05:20 +02:00
v4hn
c046ec605d streamline add/insert interfaces for Task/Container
`add` falls back to `insert` for both structures,
but `add` throws exceptions and does not provide a return value.

`insert` provides standard STL container access.
2020-04-01 15:05:20 +02:00
v4hn
df8a783239 enforce one-parent policy in StagePrivate
So new containers cannot get this wrong by accident.
2020-04-01 15:05:20 +02:00
Michael Görner
90f5d22e83
do not export inline functions (#147)
This makes sure that code using `pimpl()` will not compile out of the box unless the _p header is included.
2020-03-29 20:47:26 +02:00
Michael Görner
0eae0e652e
build tests using gmock via catkin_add_gmock (#148)
Otherwise these suddenly started to fail for me on Lunar Linux...
2020-03-20 20:33:33 +01:00
Michael Görner
d61e1708ce
Add an icon for the RViz interface (#144) 2020-03-19 08:46:39 +01:00
v4hn
194715abc6 limit float values in rviz to 4 digits
The previous implicit conversion leads to varying cell width.
2020-03-13 12:09:39 +01:00
Michael Görner
a9fbcac31f
planning_attempts -> max_solutions (#143)
The parameter describes the maximum number of found solutions before further planning is aborted.
2020-03-10 15:00:22 +01:00
v4hn
f12cc0c127 Revert "workaround for MoveIt PlanningScene bug"
Fixed via https://github.com/ros-planning/moveit/pull/1899.
Please use *latest* master (if you do not use melodic builds).

This reverts commit c44d0cac19.
2020-03-09 10:09:01 +01:00
v4hn
8f56d4ae79 avoid copy from const id reference
This mustn't compile as users got confused about it:
```
Task t;
t.id() = "foobar";
```
2020-03-05 12:08:59 +01:00
Robert Haschke
5944c21016
Add qtbase5-dev build dependency (#142) 2020-03-05 08:04:50 +01:00
Robert Haschke
9ee653453d Container: abort traversal with false return value of processor
So far, returning false from the processor function, just skipped further traversing the current child (depth-wise).
Now, traversal is completely aborted, even not traversing the remaining siblings of the current child.
Having a single boolean return value, we cannot distinguish both cases.
We need the new behaviour for 8061945c15bea22e8f8899c987bc28e3542885aa.
2020-03-03 17:57:06 +01:00
Robert Haschke
5037bc77e7 Use public API only in visualization package 2020-03-03 17:57:06 +01:00
Mark Moll
0d6f79050a don't install PIMPL header files (#119) 2020-03-03 17:21:54 +01:00
Markus Vieth
534d520a04
Add return value to Task::execute (#136) 2020-02-20 11:31:51 +01:00
Robert Haschke
c44d0cac19 workaround for MoveIt PlanningScene bug
https://github.com/ros-planning/moveit/issues/1835
2020-02-18 09:31:48 +01:00
Robert Haschke
bcc652b6e8 cleanup demo 2020-02-18 09:30:27 +01:00
Aris Synodinos
8ac9957b55
Added C++11 flags for MOVEIT_MASTER check (#129) 2020-02-12 21:59:33 +01:00
Robert Haschke
7cda8e38d6 add missing Ogre includes 2020-02-06 17:31:10 +01:00
Robert Haschke
46805e2666 Fixup: avoid deprecation warnings of MoveIt master branch
Fixes missing definition of MOVEIT_MASTER for capabilities packages
in 233d63aa7a
2020-02-06 17:29:51 +01:00
Robert Haschke
919531bc29 shorten description of trajectory component
info's id and stage_id are not always filled
2020-02-06 17:29:51 +01:00
Robert Haschke
463486257b Merge #120: Add computation timing 2020-02-06 16:18:49 +01:00
Jafar Abdi
fa9b177575 transmit and display computation in rviz 2020-02-06 16:18:20 +01:00
Jafar Abdi
aa11b66824 use runCompute() 2020-02-06 16:17:55 +01:00
Jafar Abdi
89fea00b33 Stage::runCompute() to measure computation time 2020-02-06 16:17:04 +01:00
Rajendra Singh
8588deb202 Printing success log only if execution completes
Previous code will print/log "Execution complete" even if the execution was disabled.
2020-02-05 13:18:33 +01:00
Rajendra Singh
de79dedbfc
Generalised code for object_name
Previous code was generating the error on changing object_name in config/panda_config.yaml file because of this bug as here we are overwriting the object_name as "object" which brought the inconsistency in code.
2020-01-16 19:05:53 +05:30
Robert Haschke
ef6cb1a746 TaskPanel: execute selected solution 2020-01-11 09:15:11 +01:00
Robert Haschke
ba815cff34 Task: don't publish solutions by default
Having multiple solutions, automatic publishing of intermediate solutions is confusing.
One never knows, which one is the final one. If desired, the user should setup a hook for this.
2020-01-11 09:00:34 +01:00
Henning Kayser
c1f6ca8e84 Expose SolutionCallback API in Task (#121) 2020-01-11 08:33:57 +01:00
Luca Lach
513ba80d14 add ExecuteTaskSolutionCapability to move_group (#118) 2020-01-08 11:01:41 +01:00
v4hn
233d63aa7a avoid deprecation warnings of MoveIt master branch
Use new methods
- moveit::core::isEmpty
- moveit::core::CartesianInterpolator::computeCartesianPath
2019-12-13 11:29:02 +01:00
Tyler Weaver
e4920ce26c Travis: re-enable master build, enable code-coverage (#109) 2019-12-03 14:22:01 +01:00
Robert Haschke
acddc268ed compatibility to MoveIt master branch 2019-11-27 17:43:57 +01:00
Robert Haschke
47a9929608 "cartesian" demo: add an example stage for relative joint-space offsets 2019-11-26 21:08:31 +01:00
Robert Haschke
a070524860 Enable infinite number of repetitions for "modular" demo
Using a joint-space interpolator to move back to start pose,
we avoid pose drift in the Cartesian loop, which pushes the robot
into its joint limits over time. Fixes #113.
2019-11-26 21:08:31 +01:00
Robert Haschke
3887b32ba1 fix MoveRelative::getJointStateFromOffset
Fix for #114: Accessing variable indexes was screwed.
2019-11-26 21:08:31 +01:00
Aris Synodinos
145bec1ed3 Added cost calculation in move_relative (#108) 2019-11-05 17:38:25 +01:00
Robert Haschke
ff297d2929 more tutorial demos 2019-11-02 22:05:58 +08:00
Robert Haschke
facdc8e278 update RobotState in getJointStateGoal() 2019-11-02 22:02:56 +08:00
Robert Haschke
1ba4bc4508
MoveTo/MoveRelative: report failure on invalid trajectories (#107) 2019-10-22 12:06:11 +02:00
v4hn
6764b2a9ca demo: add 'execute' parameter
useful for testing parameters
2019-10-22 11:06:51 +02:00
simonGoldstein
232ef5e03e Demo package for tutorial (#104)
Co-Authored-By: Henning Kayser <henningkayser@picknik.ai>
Co-Authored-By: Robert Haschke <rhaschke@techfak.uni-bielefeld.de>
2019-10-08 17:30:45 +02:00
Robert Haschke
82e9c22e42 Travis: disable build against MoveIt master
... due to API incompatibilities
2019-09-30 20:19:36 +02:00
Robert Haschke
ddd8c54b7d Travis: use Xenial image 2019-07-26 11:07:04 +02:00
Robert Haschke
975491fba9 Fixup: adding cost calculations to connect and move_to 2019-07-26 11:05:52 +02:00