Commit Graph

889 Commits

Author SHA1 Message Date
Robert Haschke
75e4260e2a
MoveRelative: Allow backwards operation for joint-space delta (#436) 2023-03-06 16:27:09 +01:00
Robert Haschke
61bb2fdc58
ComputeIK: Limit collision checking to JMG (#428)
That's what MoveIt is doing as well.
2023-02-28 13:18:53 +01:00
Robert Haschke
a3cb8c6584 Fix: Fetch pybind11 submodule if not yet present
cmake's execute_process pipes COMMANDs together.
Thus, `git submodule update` received the output of `git submodule init` as input
and didn't do anything.
2023-02-28 11:15:05 +01:00
Robert Haschke
ca1c7c7e24 Fix typo 2023-02-28 11:13:24 +01:00
Robert Haschke
d07aece163 ros1-0.1.2 2023-02-24 00:02:47 +01:00
Robert Haschke
6671aedeb7 Remove moveit/__init__.py during .deb builds 2023-02-23 23:55:38 +01:00
Robert Haschke
4a320f309c
Merge PR #429: MultiPlanner
MultiPlanner
2023-02-23 20:44:28 +01:00
Robert Haschke
ea776e35f6
Fix marker creation: allow zero scale for geometric shapes (#430)
Boxes, spheres, and cylinders might explicitly have a zero size. Don't reset their scaling to (1,1,1)
2023-02-23 20:42:23 +01:00
Robert Haschke
db6d90ab69 CartesianPath: Deprecate redundant property setters 2023-02-17 22:37:49 +01:00
Robert Haschke
6dc70b1d49 PlannerInterface: provide "timeout" property
The MultiPlanner requires to set individual timeouts for its planners.
2023-02-17 18:28:02 +01:00
Robert Haschke
573858e51a PlannerInterface: provide setters for properties 2023-02-17 17:33:06 +01:00
Robert Haschke
052a56a333 Add MultiPlanner solvers
a planner that tries multiple planners in sequence
2023-02-17 17:33:06 +01:00
Robert Haschke
3d3236575d JointInterpolation: fix timeout handling
The timeout parameter was essentially ignored and the check was always true.
2023-02-17 11:41:32 +01:00
Robert Haschke
eae0bdc27f ros1-0.1.1 2023-02-15 23:20:32 +01:00
Robert Haschke
7926f69e97 Provide ComputeIK.ik_frame as full PoseStamped
Released MoveIt doesn't (yet) provide a conversion from string to PoseStamped.
2023-02-15 17:05:25 +01:00
Robert Haschke
885ac49ffb Use MoveIt's roscpp_initialize 2023-02-15 17:05:25 +01:00
Robert Haschke
d95a2fc787 Use MoveIt's libmoveit_python_tools.so
Drop our own version of that lib and thus resolve a deploy conflict.
2023-02-15 14:30:14 +01:00
Robert Haschke
4b5de15e1b Remove unused eigen_conversions includes 2023-02-11 13:47:35 +01:00
Robert Haschke
f2d97e524d Fix odr compiler warning on build farm
https://build.ros.org/job/Ndev_db__moveit_task_constructor__debian_buster_amd64/3
2023-02-11 13:31:50 +01:00
Robert Haschke
2843459b34 Fix buildfarm errors
- Add missing package dependencies
- Add author tags to package.xml
2023-02-03 12:24:48 +01:00
Robert Haschke
49b3bd0d56 ros1-0.1.0 2023-02-02 10:02:45 +01:00
Robert Haschke
93b46ef214 GeneratePose: forward registered properties from received solution 2023-01-28 12:01:45 +01:00
Robert Haschke
d9cff5510f Fix more -Wold-style-cast warnings 2023-01-05 16:24:02 +01:00
Robert Haschke
91d9518d3c Replace namespace robot_model -> moveit::core 2023-01-05 03:14:11 +01:00
JafarAbdi
f055fabbd1 Fix clang-tidy warnings
- Replace old-style casts
- Fix missing initialization
2023-01-04 23:52:38 +01:00
Jochen Sprickerhof
770a8a0b17 Fix call of PropagatingEitherWay::computeGeneric()
computeGeneric is templated and private so it will be undefined in the
shared object and when using the computeForward/Backward functions.
2023-01-04 21:39:33 +01:00
Robert Haschke
f872d58520
Expose ContainerBase::childByIndex via operator[](int) (#413) 2022-12-12 20:44:37 +01:00
Robert Haschke
26c690c3b6 Merge PRs #412 (fix-ci) and #409 (more cost-terms) 2022-12-11 22:38:32 +01:00
Robert Haschke
33e9c5d212 Fix clang-tidy issues 2022-12-11 22:37:10 +01:00
Robert Haschke
ced37a029c Update/Stick pybind11 to version 2.9.1-smart_holder
... to maintain compatibility with Python 3.6 and 2.7
2022-12-11 21:34:53 +01:00
Robert Haschke
7c35f6c580 Update/Stick pybind11 to version 2.9.1-smart_holder
... to maintain compatibility with Python 3.6 and 2.7
2022-12-11 17:42:07 +01:00
Robert Haschke
341f1838b5 Build python bindings with size optimization 2022-12-11 17:39:55 +01:00
Robert Haschke
4886fc3f7b Expose CostTerms to python 2022-12-11 17:39:55 +01:00
Robert Haschke
6de570c7a6 new TrajectoryCostTerm: DistanceToReference 2022-12-09 11:19:41 +01:00
Robert Haschke
a9b4947845 PathLength: allow weighting of different joints 2022-12-09 10:16:19 +01:00
Robert Haschke
de22cba99a Fetch pybind11 submodule if not yet present 2022-12-09 09:05:17 +01:00
Robert Haschke
274c75f68f Fix SimpleGrasp/SimpleUnGrasp wrapper
- Wrap common base class SimpleGraspBase to reduce redundancy
- Use correct defaults for stage name
2022-12-08 09:37:33 +01:00
Robert Haschke
7200bbbfb1 Fix base class for container stages Pick, Place, SimpleGrasp, SimpleUnGrasp 2022-12-08 08:59:41 +01:00
Robert Haschke
2cf4f8f046 Drop breathe (not working) and directly link doxygen docs 2022-11-27 01:19:56 +01:00
Robert Haschke
c9ba6918c8 GHA: Build and deploy documentation 2022-11-27 01:19:56 +01:00
Robert Haschke
954089eae4 Merge PR #99: Python API
... based on pybind11
2022-11-22 21:24:17 +01:00
Robert Haschke
c1df1fbee8 [Container|Task]::add(...) for sequence (python) 2022-11-22 21:22:29 +01:00
Robert Haschke
164ce4eab8 clang-tidy: fix variable/method naming 2022-11-03 18:30:21 +01:00
Robert Haschke
7d5f9fe6e3 Fix clang-tidy warnings 2022-11-02 18:44:38 +01:00
Robert Haschke
f88e25fe74 Merge PR #380: Fix Cartesian interpolation
Correctly consider an offset transform from link to reference frame,
such that rotations w.r.t. the reference frame don't move its origin.
2022-11-01 23:51:53 +01:00
Robert Haschke
0c9524930a CI: stricter warnings 2022-11-01 23:41:17 +01:00
Robert Haschke
d66b2262ed Rename variables in visualizePlan()
- link_pose -> start_pose
- pos_link -> pos_start
2022-10-31 19:53:07 +01:00
Robert Haschke
32d3454c1f Fix getRobotTipForFrame()
When passing the root frame, getRigidlyConnectedParentLinkModel() returns
a nullptr for robot_link, causing a segfault.
Actually, we don't need to use that method at all. We just need to find
the robot_link of an associated body.
2022-10-31 19:53:07 +01:00
Robert Haschke
fd123cc4a7 Fix handling of ik_frame in Cartesian path planning
The ik_frame should move in a straight-line Cartesian path.
However, so far the link frame was following a Cartesian path.
2022-10-31 19:53:07 +01:00
Robert Haschke
ec366b26ee MoveRelative: Correctly compute motion transform
The twist motion performs an angular rotation about the given axis _and_
the origin of ik_frame as well as a linear translation.
Both transforms are expressed w.r.t. the model frame and thus require
left-multiplication to ik_frame's current pose.
2022-10-31 19:53:07 +01:00