Commit Graph

1360 Commits

Author SHA1 Message Date
TipluJacob
9b4c76076b Fix missing configs in demo launch files (#509) 2024-03-07 21:17:41 +01:00
Sebastian Jahr
f661c18e69 Fix MTC unittests for new pipeline refactoring (#515) 2024-03-07 20:53:45 +01:00
Mario Prats
11c3126052 Update to the more recent JumpThreshold API (#506) 2024-03-07 20:35:03 +01:00
JafarAbdi
c11a34a935 ExecuteTaskSolutionCapability: Reject new goals when busy (#496)
- Rename goalCallback() -> execCallback()
- Run execCallback asynchronously and use future to know status of execution
2024-03-07 16:01:15 +01:00
Sebastian Jahr
1e058598c7 Add planner_id to SubTrajectory info (#490) 2024-03-06 18:11:57 +01:00
Sebastian Jahr
ed70497d33 Remove display_motion_plans and publish_planning_requests properties (#489) 2024-03-06 15:59:39 +01:00
Sebastian Jahr
0e02fcae77 Enable parallel planning with PipelinePlanner (#450)
* Refactor pipeline planner

Make code readable

Re-order plan functions

Make usable with parallel planning

Enable configuring multiple pipelines

Add callbacks

Cleanup and documentation

Add API to set parallel planning callbacks and deprecate functions

Pass pipeline map by reference

Small clang-tidy fix

Update core/src/solvers/pipeline_planner.cpp

Co-authored-by: Sebastian Castro <4603398+sea-bass@users.noreply.github.com>

Update core/src/solvers/pipeline_planner.cpp

Format

Refactor to avoid calling .at(0) twice

Use no default stopping criteria

Update fallbacks_move demo

* Cleanup + address deprecation warnings

* Enabling optionally using a property defined pipeline planner map

* Address review

* Disable humble CI for ros2 branch

* Add pipeline planner unittests + some checks

* Add short comment
2024-03-06 15:59:09 +01:00
Robert Haschke
0ba9796fe8 Revert "Silent googletest warnings"
This reverts commit 16af904e05.
The corresponding upstream fixes were merged into ament packages.
2023-07-26 08:21:10 +02:00
Robert Haschke
349e3c6c6c Merge branch master into ros2 2023-05-26 16:38:15 +02:00
Robert Haschke
c605a0059a Replace namespace robot_[model|state] with moveit::core 2023-05-26 01:18:17 +02:00
Robert Haschke
6f7282423d MPS: fixup processCollisionObject
- Declare CollisionObject argument as constant:
  Internally the argument is temporarily modified, but for a caller it is effectively const.
- Correctly restore the old operation mode
- Fixup check in unit test
2023-05-26 01:15:50 +02:00
Robert Haschke
3ec69fb59d
Merge PR #460: improvements to ModifyPlanningScene stage 2023-05-25 22:29:31 +02:00
Robert Haschke
2728b3c94c Remove downstream package mtc_pour
... as fillMessage() was renamed to toMsg()
2023-05-25 22:07:35 +02:00
Robert Haschke
5382338933 Disable MPS tests, failing due to #432 2023-05-25 21:52:07 +02:00
Robert Haschke
78da3e46e6
Gracefully handle NULL robot_trajectory (#469) 2023-05-25 17:49:23 +02:00
JafarAbdi
45ff3ea437 Improve cmake
- Modernize
- Add include folder for INSTALL_INTERFACE
2023-05-25 17:05:45 +02:00
Robert Haschke
76d293863b
introspection: remove any invalid ROS-name chars from hostname (#465) 2023-05-19 08:48:28 +02:00
Robert Haschke
397fc070ea Fix SolutionBase::fillMessage(): also write start_scene
This method was only doing half of the job, namely adding subsolutions
to the message fields. However, the start_scene was not yet written.
This was handled manually in some but not all callers.
To avoid this inconsistency, the new method toMsg() takes care of both
actions now, while the old fillMessage() method was renamed to appendTo().
2023-05-19 08:43:14 +02:00
Robert Haschke
bd400de184 Fix add/remove object in backward operation
- addObject() will actually remove the object from scene
- removeObject() is not supported (we would need to know which object to add)
2023-05-19 08:43:12 +02:00
Robert Haschke
1daef934ee Add python binding for ModifyPlanningScene::removeObject 2023-05-19 08:43:12 +02:00
Robert Haschke
6a01550e8d ComputeIK: update RobotState before calling setFromIK()
This became necessary due to https://github.com/ros-planning/moveit/issues/3388.
2023-05-17 21:01:57 +02:00
Michael Görner
4d2a5714fa
Use pluginlib consistently (#463) 2023-05-17 19:55:18 +02:00
VideoSystemsTech
dee73b2dde
Expose argument of PipelinePlanner's constructor to Python (#462) 2023-05-16 14:32:17 +02:00
Robert Haschke
d59acdb969 Fix allowCollisions(object, enable_collision)
Call ACM::setDefaultEntry to also cover objects that are not yet known to the ACM.
2023-05-16 09:43:00 +02:00
Robert Haschke
45ca1a67a9 TestModifyPlanningScene 2023-05-16 09:42:25 +02:00
Robert Haschke
b318c3cae9 Basic Move test: MoveRelative + MoveTo 2023-05-05 00:21:11 +02:00
Robert Haschke
84cb880a9d Add python binding for ModifyPlanningScene::allowCollisions(std::string, bool) 2023-05-05 00:21:11 +02:00
Robert Haschke
1002d84946 Add python binding for Task::insert 2023-05-04 23:22:49 +02:00
Robert Haschke
d1a6916206
Stage::explainFailure() (#445)
... to facilitate spotting the stage causing a task to fail
2023-05-04 17:07:11 +02:00
Robert Haschke
ede7cb71cc
Improve documentation (#431)
* Improve general description of stage and container types
* Clarify purpose of `CurrentState` stage
* Add troubleshooting section
2023-05-04 17:02:00 +02:00
Robert Haschke
7f10292ab3
JointInterpolationPlanner: pass optional max_effort property along to GripperCommand (#458)
MoveIt passes the effort field of the last trajectory point as the max_effort for a GripperCommand.
Thus we pass the max_effort property to the effort field of the trajectory's last waypoint.
2023-05-04 15:29:53 +02:00
Robert Haschke
b346e7eb78
Task: findChild() and operator[] should directly operate on stages() (#435)
Considering the (fixed) name of the top-level container is meaningless.
2023-05-04 15:23:23 +02:00
Robert Haschke
f07b81fcd0 cleanup 2023-05-04 14:26:34 +02:00
Mario Prats
a0befc5b75
Remove redundant semicolon to silent compiler warning (#448) 2023-03-22 15:15:13 +01:00
Robert Haschke
4781ed5636 ros1-0.1.3 2023-03-06 16:37:54 +01:00
Robert Haschke
c57a0bcc12 Fixup: Remove moveit/__init__.py during .deb build
Fix install path recognition (6671aedeb7). Debian install process targets:
/tmp/binarydeb/ros-noetic-moveit-task-constructor-core-<version>/debian/ros-noetic-moveit-task-constructor-core/opt/ros/noetic/lib/python3/dist-packages/moveit
2023-03-06 16:31:59 +01:00
Robert Haschke
75e4260e2a
MoveRelative: Allow backwards operation for joint-space delta (#436) 2023-03-06 16:27:09 +01:00
Robert Haschke
08dc34c5b3
Use const reference instead of reference for ros::NodeHandle (#437) 2023-03-06 16:26:41 +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
Peter David Fagan
5c308d1f28
remove underscore from public members in MotionPlanResponse (#426)
Required to align with changes introduced by https://github.com/ros-planning/moveit2/pull/1939

Co-authored-by: JafarAbdi <cafer.abdi@gmail.com>
2023-02-17 21:11:02 +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