Robert Haschke
98000f37ff
Merge branch 'master' into ros2
2024-07-13 02:07:53 +02:00
Robert Haschke
8d2baf2739
Cleanup unit tests
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... and allow them to run via both, cmdline and pytest
2024-07-13 01:59:22 +02:00
Robert Haschke
6d376fb8b9
Connect: Relax validity check of reached end state
2024-07-12 06:31:33 +02:00
Robert Haschke
0fed09d431
Unify Python demo scripts
2024-07-12 06:31:33 +02:00
Robert Haschke
93ef98ad67
Switch shebang to python3
2024-07-11 15:44:28 +02:00
Robert Haschke
bbc34d2b97
demo: replace individual launch files with common run.launch.py
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Launch individual binaries with:
ros2 launch moveit_task_constructor_demo run.launch.py exe:=<binary>
2024-07-11 15:17:35 +02:00
Robert Haschke
4debc37904
Silence gcc's overloaded-virtual warnings
2024-07-11 09:50:35 +02:00
Robert Haschke
646a49f1fb
Disable ccov: lcov is broken
2024-07-09 20:39:25 +02:00
Robert Haschke
d4db4cb707
Fix flaky IK in asan unit test: increase timeout
2024-07-09 15:33:47 +02:00
Robert Haschke
26d146874a
Fix failing unittests: remove static executor
2024-07-09 13:25:57 +02:00
Fabian Schuetze
702710dec5
Improve comments for pick-and-place task ( #238 )
2024-07-06 19:59:05 +02:00
Robert Haschke
fbc05e4496
Add property to enable/disable pruning at runtime ( #590 )
2024-07-06 16:51:14 +02:00
Robert Haschke
907014cd57
Disable pruning by default
2024-07-04 12:05:31 +02:00
Robert Haschke
93a3964138
test_pruning.cpp: Add new test
2024-07-04 11:57:31 +02:00
Robert Haschke
48bde8daab
test_pruning.cpp: Extend test to ParallelContainer
2024-07-04 11:57:31 +02:00
Robert Haschke
42a08d6444
PassThrough: cleanup unused headers
2024-07-04 11:57:31 +02:00
Robert Haschke
a84479cc58
Avoid segfault if TimeParameterization is not set
2024-07-03 09:32:30 +02:00
Robert Haschke
b1336dc210
CartesianPath: allow ik_frame definition
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... if start and end are given as joint-space poses
2024-06-29 18:02:05 +02:00
Robert Haschke
177e19de1f
Generalize utils::getRobotTipForFrame()
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... to return error_msg instead of calling markAsFailure() on a solution
2024-06-29 17:55:45 +02:00
Robert Haschke
8fa66a6d2c
Update pybind11 to version 2.12.0
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Currently used branch was not interoperable with a standard version of pybind11.
2024-05-29 15:43:46 +02:00
Robert Haschke
edf2605a1d
TEMP: Workaround for unittests failing during shutdown
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Using quick_exit instead of return/exit avoids calling all cleanup functions,
which fail due to a bug in rmw_fastrtps_cpp.
2024-05-29 14:04:07 +02:00
Robert Haschke
bb047c894c
Cleanup unit tests
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- Unify move_to.launch.py and test_task_model.launch.py
- Rename them to test.launch.py as they are independent of the executable
- Move Node creation to the fixture constructor
- Replace Task::setRobotModel(loadModel()) with Task::loadRobotModel()
2024-05-29 14:04:07 +02:00
VideoSystemsTech
ad5c878f19
ComputeIK: Allow additional constraints for filtering solutions ( #464 )
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Add "constraint" property.
Co-authored-by: Robert Haschke <rhaschke@techfak.uni-bielefeld.de>
2024-05-28 16:54:10 +02:00
Jafar Uruç
a9ddbe1998
Update authors and maintainers ( #425 )
2024-05-28 07:26:10 +02:00
VideoSystemsTech
227d475282
Expose MultiPlanner to Python ( #474 )
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Co-authored-by: Robert Haschke <rhaschke@techfak.uni-bielefeld.de>
2024-05-27 19:17:45 +02:00
Captain Yoshi
3b4ea48c18
Add unittest cartesianCollisionMinMaxDistance ( #538 )
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... to illustrate that MoveRelative's min-max constraint fails with PipelinePlanners (e.g. Pilz) returning a partially invalid trajectory: MTC does not truncate the trajectory to its valid part and thus fails, even if the valid part fits the given min-max range. This logic is only supported for the CartesianPath planner for now.
Co-authored-by: Robert Haschke <rhaschke@techfak.uni-bielefeld.de>
2024-05-27 16:16:57 +02:00
Robert Haschke
f79c6c537e
Connect: Relax validity check of reached end state ( #542 )
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Looks like Rolling's MoveIt uses a more relaxed goal constraint threshold than Humble.
For this reason, all end states reached by Connect solutions of pick+place demo are rejected.
This commit relaxes the max_distance threshold of Connect accordingly.
2024-05-26 20:45:23 +02:00
Robert Haschke
747bb29c7a
CI: add jazzy build
2024-05-26 12:55:06 +02:00
Robert Haschke
92efc14043
Rename ros-planning org
2024-05-25 21:30:30 +02:00
Robert Haschke
076903a738
Drop requirement on py_binding_tools
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python bindings are not yet supported
2024-05-25 20:01:51 +02:00
Robert Haschke
7666f73e04
Simplify formatting code with https://github.com/fmtlib ( #499 )
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* Simplify formatting code with https://github.com/fmtlib
* Update to clang-format-12
2024-05-25 19:12:42 +02:00
Robert Haschke
5d2857be6b
Merge branches 'simplify-node-creation' and 'master' into ros2
2024-05-24 14:39:38 +02:00
Captain Yoshi
a0c00646c2
Add NoOp stage ( #534 )
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This stage can be used to add arbitrary user-defined properties w/o modifying the PlanningScene state or adding a trajectory.
Co-authored-by: Robert Haschke <rhaschke@techfak.uni-bielefeld.de>
2024-05-24 14:34:27 +02:00
Robert Haschke
54e653ebdb
Fix failing assertion
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The cost of a newly created Priority does not need to be finite.
An example occurs in the Pick+Place demo: the CurrentState solution
is filtered by an applicibility test, which may set the cost to infinity
while lifting the solution to the wrapper stage.
In this case, new InterfaceStates are created from the infinite cost solution.
Consequently, the state should be marked as PRUNED.
2024-05-24 12:02:20 +02:00
Robert Haschke
9c05305eff
ModifyPlanningScene: check state for collisions
2024-05-24 10:49:14 +02:00
Robert Haschke
a8896e4e5d
Improve TypeError exceptions
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- use pybind11 API instead of Python C API
- provide more informative error messages
2024-05-23 14:08:49 +02:00
Robert Haschke
74b1e5e5d3
CI: prerelease.yaml: make ROS_DISTRO an interactive input
2024-05-23 14:08:49 +02:00
Robert Haschke
8ede80d26d
Example of constrained orientation planning
2024-05-23 14:08:49 +02:00
Robert Haschke
92b917d264
CI: update actions
2024-05-23 14:08:49 +02:00
Robert Haschke
e2812d9333
Drop Kinetic support
2024-05-23 14:08:49 +02:00
Robert Haschke
9fd2f1f858
Drop Melodic support
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- py_binding_tools is released into Noetic only
- drop Python2 support
- drop TYPED_TEST_CASE
2024-05-23 14:08:49 +02:00
Robert Haschke
405755595a
Switch to package py_binding_tools
2024-05-23 14:08:49 +02:00
Captain Yoshi
ad19ea5479
Add ability to move CollisionObjects ( #567 )
2024-05-12 11:03:47 +02:00
Robert Haschke
046309d60a
Simplify rclcpp::Node creation
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Directly pass node name and namespace instead of using options.
2024-05-08 10:19:28 +02:00
Sebastian Castro
819e560ed4
Improve description of max_distance property of Connect stage ( #564 )
2024-05-05 19:30:36 +02:00
Robert Haschke
6b0f2c872f
rviz_marker_tools: add missing dependency on urdfdom
2024-04-02 10:38:39 +02:00
Daniel García López
560aa0a476
Add Generator::spawn(from, to, trajectory) variant ( #546 )
2024-03-20 15:32:15 +01:00
Sebastian Jahr
5ae22da8db
fixup! Add planner_id to SubTrajectory info ( #490 )
2024-03-19 14:51:35 +01:00
Robert Haschke
e1b891ba5a
Fix mtc.rviz config
2024-03-13 11:18:25 +01:00
Sebastian Jahr
0c4b4fcaa8
Print warning if no controllers are configured for trajectory execution ( #514 )
2024-03-09 13:35:02 +01:00