Commit Graph

292 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
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
e71376743c yamp-cpp parsing 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
a1f7c5d1c6 improve error msg for mismatching container/child interfaces 2019-02-06 10:29:10 +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
ae75c3aa7f Eigen::Affine3 -> Eigen::Isometry3 2018-11-28 08:14:44 +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
6b4b4ca624 ComputeIK: threshold for new solutions as property 2018-11-09 10:50:14 +01:00
Robert Haschke
b9a86eb5be use task id as default name of top-level stage 2018-11-08 12:55:45 +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
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
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
v4hn
a05a76fd8c fixup! add properties for conditional debug output
in MoveIt planner.

These can be quite helpful.
I agree, we really don't need them enabled by default.
2018-10-22 16:59:24 +02:00
Robert Haschke
70e32cb0b3 Connect: skip initial PlanningScene::diff() 2018-10-21 00:27:50 +02:00
Robert Haschke
18bf5246ed cleanup PlannerInterface
- remove group + timeout properties: they are passed as arguments to plan()
- move max_velocity_scaling_factor, max_acceleration_scaling_factor to PlannerInterface base class
2018-10-21 00:02:10 +02:00
Robert Haschke
b5b58ea0ca Introspection::solutionFromId() 2018-10-20 23:33:54 +02:00
Robert Haschke
02ed4d3579 Connect: verbose debugging output in case of state incompatibilities 2018-10-20 23:32:43 +02:00
Robert Haschke
c6f985be3a Connect: allow different merge modes
for now:
SEQUENTIAL (no merging)
WAYPOINTS (naive)
2018-10-20 23:32:43 +02:00
Robert Haschke
ba88c59201
Merge pull request #54 from ros-planning/pr-capability
ExecuteTaskSolution capability
2018-10-20 23:25:48 +02:00
Robert Haschke
1e39da2388 fix stage "FixCollisionObjects"
... correction wasn't initialized to zero, resulting in random NaNs
2018-10-20 22:59:27 +02:00
Robert Haschke
a0a9738a00 update PlanningScene's RobotState before storing it 2018-10-20 22:02:05 +02:00
Robert Haschke
e894d8bce2 fix caching of PlanningPipeline ptrs
Need to reset cache if corresponding RobotModel was destroyed.
To this end, we cannot simply use the RobotModel's name.
2018-10-20 21:50:05 +02:00
Robert Haschke
f548b7edcc PipelinePlanner: disable publishing of plan request + computed path 2018-10-20 12:21:18 +02:00
Robert Haschke
36fe4c98be reduce copying of shared ptrs 2018-10-20 12:21:18 +02:00
Robert Haschke
d648a4091e guard use of introspection_ pointer 2018-10-20 02:38:11 +02:00
Robert Haschke
e9b16ba7c0 fix destruction order 2018-10-20 02:38:11 +02:00
v4hn
1a4f6c0e57 keep RobotModelLoader around
Otherwise the robot_model_ does not remain valid
2018-10-17 01:55:28 +02:00
Robert Haschke
a745f55ab7 fix compiler warnings in release mode 2018-10-17 01:55:28 +02:00
Robert Haschke
940543a063 fixup! allow preemption of Task::plan() 2018-10-16 23:14:58 +02:00
Robert Haschke
b5bc97b3eb Task::execute() 2018-09-25 22:17:42 +02:00
Robert Haschke
7bd9bcf972 allow preemption of Task::plan() 2018-09-25 22:16:45 +02:00
Robert Haschke
e5e291d86f FixCollisions stage 2018-09-25 22:16:45 +02:00
Robert Haschke
a7b74673ce PlannerInterface for joint-space interpolation 2018-09-25 22:16:45 +02:00
Robert Haschke
4860462076 ComputeIK: forward child solution's comment 2018-09-25 16:25:22 +02:00
Robert Haschke
c70db65578 fixup! MoveTo: store goal as any type 2018-09-25 16:25:13 +02:00