Commit Graph

733 Commits

Author SHA1 Message Date
Robert Haschke
9924dfe25f Merge branch master into ros2 2022-11-02 19:16:38 +01:00
Robert Haschke
7d5f9fe6e3 Fix clang-tidy warnings 2022-11-02 18:44:38 +01:00
Robert Haschke
f28b6c4ea0 Fix cmake indentation 2022-11-02 00:07:57 +01:00
Robert Haschke
7c66b85aa7 CI: stricter warnings 2022-11-02 00:07:57 +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
Robert Haschke
076957d4dc Simplify MoveRelative 2022-10-31 19:53:07 +01:00
Robert Haschke
402d6a4bfe Improve unittest for move_relative 2022-10-31 19:53:07 +01:00
Robert Haschke
64a8df1fde Merge CI fixes/improvements 2022-10-24 10:21:34 +02:00
Robert Haschke
4c9b16511b Hopefully fix spurious test failure 2022-10-24 10:21:28 +02:00
v4hn
c60cd6c86f Avoid unused-parameter warnings 2022-10-24 10:21:28 +02:00
Robert Haschke
5a30f8a8a7 Suppress unused-function warning 2022-10-24 10:08:26 +02:00
v4hn
2b2689e8d7 Use catkin_INCLUDE_DIRS as system includes
... to suppress warnings outside the code base
2022-10-24 10:07:38 +02:00
Robert Haschke
28fb974adb Remove MoveIt compatibility code 2022-10-23 22:16:58 +02:00
v4hn
6df359ed3b Do not dictate C++ standard
C++14 is default in clang/gcc anyway and latest log4cxx requires C++17.
Qt on Ubuntu 18.04 sets C++11. Hence we use MoveIt's cmake macro to ensure C++14 at least.
2022-10-23 22:15:23 +02:00
Niklas Fiedler
30512bcbb4
Report 1st collision pair for invalid IK solutions (#376) 2022-07-22 13:38:05 +02:00
Wyatt Rees
1e65027b26
Add MoveIt IK cost function to Cartesian path solver (#375) 2022-07-21 20:00:30 +02:00
Robert Haschke
3b438f9b1c Merge ROS1 fixes 2022-06-15 16:44:38 +02:00
Jafar
e923fbc0c6
Fix Task's move constructor (#371)
* Add unit test
* Fix TaskPrivate's move assignment operator
* Slightly simplify code

Co-authored-by: Robert Haschke <rhaschke@techfak.uni-bielefeld.de>
2022-06-14 22:13:19 +02:00
Wyatt Rees
60229db010
Add KinematicsQueryOptions property in CartesianPath solver (#370) 2022-06-03 19:39:51 +03:00
JafarAbdi
d6284ea63c Remove macros to check supported features 2022-05-26 21:58:48 +00:00
JafarAbdi
11b81856d5 Merge d2918f130d 2022-05-26 21:58:24 +00:00
Jafar
0128cd9250
Use moveit_configs_utils for launch files (#365) 2022-05-26 19:29:08 +03:00
Tyler Weaver
a89d9928d4
Add launch_testing_ament_cmake as a test depend (#364)
Signed-off-by: Tyler Weaver <tyler@picknik.ai>
2022-05-24 16:23:14 +03:00
AndyZe
36459e3869 Alphabetize package.xml's and CMakeLists 2022-05-09 08:06:15 -05:00
Robert Haschke
d2918f130d
Pruning: Relax too strong assertion: PRUNED => !ARMED (#340) 2022-05-08 11:56:17 +02:00
Robert Haschke
9026ac8746
Make TimeParamerization configurable (#339) 2022-05-08 11:54:05 +02:00
JafarAbdi
dfb5769b0d Fix rolling compatibility with jammy
Fix compile warning
Update clang-format version to 12
2022-05-04 12:40:07 -05:00
Robert Haschke
096c671887 Pruning: Relax too strong assertion: PRUNED => !ARMED
If two Connect stages are sequenced, both sides can become ARMED.
However, that means that the wave of PRUNED status updates, shouldn't
overwrite a present ARMED state.
Added unit test.
2022-03-04 15:01:19 +01:00
Robert Haschke
8d7225d3b6 Connect: better document suppressing recursive loop 2022-03-04 15:01:19 +01:00
v4hn
6d104e837e polish: FixedState supports collision checking 2022-03-04 14:41:00 +01:00
v4hn
0a3dd3a314 properly set comment markAsFailure without prior comment 2022-03-04 14:39:53 +01:00
Robert Haschke
5310f9063a operator<< for Interface::Direction 2022-03-04 13:13:01 +01:00
Robert Haschke
ee7cec2aab FixedState: ignore_collisions=false
Check collisions for FixedState's scene and report failure if needed.
Optionally, disable the check via the property ignore_collisions=true.
2022-03-03 17:01:34 +01:00
Robert Haschke
ca38d11303 Enable InterfaceState's copy operator 2022-02-02 20:51:58 +01:00
Robert Haschke
b2c990b675 core: export rviz_marker_tools dependency 2022-01-07 14:35:15 +01:00
Robert Haschke
c7b2067b86 Merge PR #309: Fix Pruning 2022-01-05 20:19:51 +01:00
Robert Haschke
5956e70956 Merge PR #311: fix Fallbacks 2022-01-05 19:49:38 +01:00
Robert Haschke
4cc1f567d6 FallbacksPrivateConnect
Implement Fallbacks behavior for children of type Connecting.
All other connect-like children are currently infeasible to handle,
because we cannot forward a single job, i.e. a pair (from, to)
to the next child, but only individual states.
However, passing states, will cause creation of undesired state pairs
as jobs in subsequent children.
2022-01-05 18:16:34 +01:00
Robert Haschke
7a04a9f603 ParallelContainerBasePrivate::propagateStateTo*All*Children
rename method to emphasize that state updates are propagated to all children
2022-01-05 16:45:57 +01:00
Robert Haschke
986d3c8766 FallbacksPrivateCommon: shared between Generator + Propagator 2022-01-05 16:45:57 +01:00
Robert Haschke
b82b70ed64 FallbacksPrivate::nextChild()
... factoring out functionality shared between FallbacksPrivateGenerator
and FallbacksPrivatePropagator to switch to next child in nextJob().
2022-01-05 16:37:46 +01:00
Robert Haschke
7af3d8ebd7 Improve readability 2022-01-05 16:37:46 +01:00
Robert Haschke
b2c116edab reset(new Interface()) -> std::make_shared<Interface>() 2022-01-05 16:37:46 +01:00
Robert Haschke
442d39ad3e Improve comments 2022-01-05 16:37:46 +01:00
Robert Haschke
b2056745a8 Generalize connectStageInsideFallbacks
Let's consider the following simple situation, where generators produce solutions in the given order.

GEN           1 3
Fallbacks     |X
GEN           2 4

When passing state 4 to the Fallbacks' connector, it forms pending pairs with both 1 and 3.
Thus, the container needs to check whether 1-4 or 3-4 was processed when receiving a success or failure,
to correctly forward the failed one to the next child.
2022-01-05 16:37:46 +01:00