Commit Graph

577 Commits

Author SHA1 Message Date
Robert Haschke
905b6a3b0c move validateConnectivity() from ContainerBase to StagePrivate
... to allow specific stage types (PropagatingEitherWay) implementing their own validation
No need for a public interface.
2019-03-11 13:54:54 +01:00
Robert Haschke
10c7a9cfd7 prune UNKNOWN *and* PROPAGATE_BOTHWAYS
If PropagatingEitherWay's interface is not met in *both* directions (but only one),
in BOTHWAY mode, issue a warning. Otherwise handle both, AUTO and BOTHWAY mode,
in the same fashion when resolving interfaces.

TODO: move validateConnectivity() in StagePrivate.
default action = default action from ContainerBase.
PropagatingEitherWay: issue warning for case above
2019-03-11 13:54:54 +01:00
Robert Haschke
f831fe5483 fix comments + typos 2019-03-11 13:54:54 +01:00
Robert Haschke
7d25c55978 Container: more unit tests for interface detection / validation 2019-03-11 13:54:54 +01:00
Robert Haschke
d741f36ee3 fixup! improve error msg for mismatching container/child interfaces
We need to consider input and output interfaces separately.
Also, use console output symbols (<- / -> / <->)
2019-03-11 13:54:54 +01:00
Robert Haschke
1e0a9401e7 Merge PR #72: rviz property visualization 2019-02-10 06:25:25 +01:00
Robert Haschke
e815fb41c2 RemoteTaskModel: all props read-only
... including ones registered in PropertyFactory
2019-02-10 06:21:51 +01:00
Robert Haschke
bb61513cb8 libyaml-based, incremental parsing of properties
... ensures display in document order
2019-02-10 06:21:51 +01:00
Robert Haschke
9810e3bb4b wip: understand event-based, incremental parsing with libyaml 2019-02-10 06:21:51 +01:00
Robert Haschke
e71376743c yamp-cpp parsing 2019-02-10 06:21:51 +01:00
Robert Haschke
20e951bf63 PropertyFactory::createDefault()
... creating a read-only rviz::Property from serialized mtc::Property value
2019-02-10 06:21:51 +01:00
Robert Haschke
a1c81f1236 YAML property serialization
- switch from ROS serialization/deserialization to YAML
- no native C++ deserialization for ROS msg types available
- drop Propert::print()
2019-02-10 06:21:51 +01:00
Robert Haschke
4ca794cb86 unify property handling in LocalTaskModel and RemoteTaskModel 2019-02-10 06:21:51 +01:00
Robert Haschke
71099c68d4 Task: fix RobotModelPtr leak
On Task::clear() also need to reset introspection's cache.
2019-02-09 01:00:29 +01:00
Robert Haschke
6b77b15b2f update README 2019-02-07 16:57:51 +01:00
Robert Haschke
4263956079 fix Travis 2019-02-07 16:25:39 +01:00
Robert Haschke
a1f7c5d1c6 improve error msg for mismatching container/child interfaces 2019-02-06 10:29:10 +01:00
Robert Haschke
f9715f0c18 pass PlanningScene + DisplayContext to rviz::Property creation
... to allow properties to display scene-specific lists or create rviz markers
2019-01-18 00:11:17 +01:00
Robert Haschke
780e09145e stage-specific factories for PropertyTreeModel
To allow stages to display their properties in a custom fashion, e.g.
to show the end-effector marker for PoseStamped, we need to be able
to register stage-specific factories.
2019-01-18 00:11:17 +01:00
Robert Haschke
3f3c2f6bf9 Update MTC property on changes of rviz property 2019-01-18 00:11:17 +01:00
Robert Haschke
81cc0aecc6 Property::type_index -> boost::typeindex::type_info
avoid decl expressions, explicit public typedef
2019-01-17 23:54:35 +01:00
Robert Haschke
062cfe0b60 PropertyTypeRegistry to store serialization/deserialization functions 2019-01-17 23:54:35 +01:00
Robert Haschke
5b8d841094 RemoteTaskModel: show stage properties 2018-11-28 08:16:16 +01:00
Robert Haschke
6d81743a0b comments 2018-11-28 08:16:16 +01:00
Robert Haschke
ae75c3aa7f Eigen::Affine3 -> Eigen::Isometry3 2018-11-28 08:14:44 +01:00
Robert Haschke
5690d68311 fix display of attached objects
similar as in https://github.com/ros-planning/moveit/pull/1202
2018-11-23 11:09:56 +01:00
v4hn
cd9115483b let marker_ns default to stage name
The stages can still decide on their namespaces on their own,
but markerNS() at least provides a stage-specific name they can use.
2018-11-09 10:50:48 +01:00
v4hn
3176aff30f add accessors for marker_ns property 2018-11-09 10:50:40 +01:00
v4hn
ac3b56a160 document timeout() helpers 2018-11-09 10:50:33 +01:00
v4hn
6b4b4ca624 ComputeIK: threshold for new solutions as property 2018-11-09 10:50:14 +01:00
v4hn
b379ba2268 fix broken rvalue-forward & SerialContainer assert
Release mode builds previously produced broken solutions with too many entries,
debug build triggered the assert

container.cpp:334: assert(solution.empty())

The standard guarantees std::vector(&&a) leaves a.empty() == true,
so the logic there is fine as long as subsolutions is actually
used for move-construction.
2018-11-09 10:47:51 +01:00
Robert Haschke
b9a86eb5be use task id as default name of top-level stage 2018-11-08 12:55:45 +01:00
v4hn
a86eca9ada predicate filter: fix documentation 2018-11-02 15:51:24 +01:00
Robert Haschke
9dd0384809 Merge origin/master 2018-11-02 11:54:07 +01:00
v4hn
cc90d5f3f2 add PredicateFilter 2018-11-02 11:53:09 +01:00
Robert Haschke
5af54b5a21 GenerateGraspPose: spawn failure if object unknown 2018-11-02 11:36:00 +01:00
Robert Haschke
0f31cdee2e move storeFailures() into public Stage API 2018-11-02 11:36:00 +01:00
Robert Haschke
915151fdd2 modify ps: add convenience functions 2018-11-02 11:21:48 +01:00
Robert Haschke
77e40a997e remove obsolete .prepare_overlay.sh
No need to manually build parts of MoveIt, after it is released.
2018-10-25 13:09:41 +02:00
Robert Haschke
7d569fe87e travis: add mtc_pour example 2018-10-25 13:06:56 +02:00
Robert Haschke
5258a338e1 improve travis testing
- add mtc_demos
- add Melodic
2018-10-25 00:12:54 +02:00
v4hn
e5fc8b62b4 MoveRelative: possibly update last waypoint before transform lookup
Apparently this RobotState is not necessarily updated,
this broke some pipeline testing over here.
2018-10-25 00:12:46 +02:00
v4hn
38cc4c6936 add comment to subtrajectory 2018-10-25 00:12:46 +02:00
v4hn
80adcb9e24 add comments to wrapped solutions 2018-10-24 11:53:14 +02:00
v4hn
73b35ef2bf do not send failures to parent
It is enough for us to investigate these locally
2018-10-24 11:47:42 +02:00
v4hn
932497ce6d do not pass failures on to monitors
They should not work with them and this
removes the need for the usual `if(s.isFailure) return`.
2018-10-24 11:44:26 +02:00
Robert Haschke
d6714e89ab fixup! rename "goal" to "direction" 2018-10-23 21:09:07 +02:00
v4hn
9740179f7f Merge branches 'cleanup-planner-interface', 'connect', 'fix-visualization' and 'rviz-createMarker' into master 2018-10-22 17:31:01 +02:00
v4hn
7fcef54a0e fixup! add name to Connecting DEBUG output
This is important to differentiate between different Connect stages.
2018-10-22 17:28:52 +02:00
v4hn
13ad4d58f1 fixup! rename "goal" to "direction"
"Goal" implies a motion to a target configuration.
MoveRelative explicitly does not do that.

"Direction" is usually not used for rotations,
but perfectly valid to describe them.

I merged 544f574166
together with the first version of this rename
that got force-pushed because it was incomplete.
2018-10-22 17:07:00 +02:00