Commit Graph

955 Commits

Author SHA1 Message Date
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
... if start and end are given as joint-space poses
2024-06-29 18:02:05 +02:00
Robert Haschke
177e19de1f Generalize utils::getRobotTipForFrame()
... 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
Currently used branch was not interoperable with a standard version of pybind11.
2024-05-29 15:43:46 +02:00
VideoSystemsTech
ad5c878f19
ComputeIK: Allow additional constraints for filtering solutions (#464)
Add "constraint" property.

Co-authored-by: Robert Haschke <rhaschke@techfak.uni-bielefeld.de>
2024-05-28 16:54:10 +02:00
VideoSystemsTech
227d475282 Expose MultiPlanner to Python (#474)
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)
... 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
92efc14043 Rename ros-planning org 2024-05-25 21:30:30 +02:00
Robert Haschke
7666f73e04
Simplify formatting code with https://github.com/fmtlib (#499)
* Simplify formatting code with https://github.com/fmtlib
* Update to clang-format-12
2024-05-25 19:12:42 +02:00
Captain Yoshi
a0c00646c2
Add NoOp stage (#534)
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
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
- use pybind11 API instead of Python C API
- provide more informative error messages
2024-05-23 14:08:49 +02:00
Robert Haschke
9fd2f1f858 Drop Melodic support
- 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
Sebastian Castro
819e560ed4
Improve description of max_distance property of Connect stage (#564) 2024-05-05 19:30:36 +02:00
Daniel García López
560aa0a476
Add Generator::spawn(from, to, trajectory) variant (#546) 2024-03-20 15:32:15 +01:00
Robert Haschke
55c4b52b13 Cosmetic fixes 2024-03-09 11:11:01 +01:00
Robert Haschke
5a8925df11 Revert "Disable MPS tests, failing due to #432"
This reverts commit 5382338933.
2024-03-08 17:16:19 +01:00
Robert Haschke
4aac679257 Fix generation of Solution msg: consider backward operation
Need to generate full planning scene message if planning progressed backwards:
The scene_diff field describes PlanningScene changes of the end scene relative to the start scene,
while during planning it might be inversed.
2024-03-08 17:16:19 +01:00
Abishalini
e09fecd71f Propagate errors from planners to solution comment (#525) 2024-03-08 11:13:10 +01:00
Michael Wiznitzer
0827a0d260 JointInterpolationPlanner: Check joint bounds (#505) 2024-03-07 20:33:43 +01:00
Robert Haschke
d0a904c313 Add property trajectory_execution_info (#355, #502)
... to pass a list of controller names to PlanExecution

---------

Co-authored-by: Luca Lach <llach@techfak.uni-bielefeld.de>
2024-03-07 20:01:03 +01:00
Robert Haschke
a75d50e0ed Clear JointStates in scene diff (#504)
Joints are handled in trajectories.
Scene diffs should not modify joints during execution.
Fixes #353.
2024-03-07 12:23:07 +01:00
Sebastian Jahr
b0f388a88f Set a non-infinite default timeout in CurrentState stage (#491)
Co-authored-by: Mario Prats <mario.prats@picknik.ai>
2024-03-07 12:23:07 +01:00
Henning Kayser
111d9ba207
Add GenerateRandomPose stage (#166)
Implements a generic pose randomizer

Co-authored-by: JafarAbdi <cafer.abdi@gmail.com>
Co-authored-by: Sebastian Jahr <sebastian.jahr@picknik.ai>
Co-authored-by: Robert Haschke <rhaschke@techfak.uni-bielefeld.de>
2024-03-06 22:32:13 +01:00
Captain Yoshi
911bc67c4d
GenerateGraspPose: Expose rotation_axis as property (#535) 2024-03-06 11:02:44 +01:00
Captain Yoshi
5720b83dce
Connect: ensure end-state matches goal state (#532) 2024-02-25 16:58:56 +01:00
Michael Görner
7638e5ff8b
Merge pull request #495 from ubi-agni/debug-#485
[WIP] Debug/Fix #485
2024-02-16 12:27:36 +01:00
Robert Haschke
275c15422d Adaptions for https://github.com/ros-planning/moveit/pull/3534
make_box() is a public method now
2024-02-15 22:20:34 +01:00
Robert Haschke
e163f57f9c Cleanup debug output 2024-02-15 21:42:18 +01:00
Robert Haschke
9dfd6bd2eb Fix duplicate solutions
When adding pending state pairs for a new incoming state to Connect,
we have to re-enable opposite states from ARMED state.
This changes the order of states in the interface.
If we do this while iterating over the states, we might add pairs multiple times,
because iteration continues with same state at an earlier position.
2024-02-15 21:42:18 +01:00
Robert Haschke
bf2714b42d printPendingPairs(os) -> os<<pendingPairsPrinter() 2023-10-25 22:21:36 +02:00
Robert Haschke
13264ba21d Fix leaking of failures into enumerated solutions 2023-10-25 22:21:36 +02:00
Robert Haschke
7b965863e3 Add more debugging output
- Add Stage::introspection() accessor
- Introspection: debug-log solution registration
- RemoteSolutionModel: show internal solution id as tooltip in 1st column
2023-10-25 22:19:49 +02:00
Robert Haschke
08b102d5b0 Unit tests for #485 2023-10-20 09:23:32 +02:00
Robert Haschke
605a1e5419 DelayingWrapper stage to delay solution shipping in unit tests 2023-10-20 09:23:32 +02:00
Robert Haschke
0fd989cb27 Simplify tests 2023-10-13 00:25:39 +02:00
Michael Görner
dcde89d4d5
Skip Fallbacks::replaceImpl() when already correctly initialized (#494)
Do not reinitialize a Fallbacks' pimpl if it already serves the desired interface.
2023-10-11 14:45:24 +02:00
Michael Görner
ab4bb40dfd
Fix demos (#493)
* improve demo rviz config
  - orbit view centered at workspace instead of 2d orbit
  - REALTIME trajectory display
* FixedState: setter for ignore_collisions property
* Fix clearance_cost demo
  - verify default state
  - use model frame over virtual "world" which is not known in fresh PlanningScene
  - ignore initial collisions with the IK seed
* improve documentation in Fallbacks demo
2023-10-11 14:30:54 +02:00
Robert Haschke
647f3ec413 Limit time to wait for execute_task_solution action server 2023-09-18 10:35:23 +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
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
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