Commit Graph

150 Commits

Author SHA1 Message Date
v4hn
b6a5f89307 remove logical flow BOTH / simplify pruning
The PROPAGATE concept BOTH declared the stages *will* propagate solutions in
either direction. ANY, on the other hand, only means the propagation
direction is *not resolved yet* (but will be at planning time).

BOTH was originally described to support a more general control flow
than was eventually decided to support. The four exclusive Stage interfaces
CONNECT, PROPAGATE_FORWARDS, PROPAGATE_BACKWARDS, and GENERATOR
do not allow for BOTH as a valid setup anymore, unless you setup a very
convolved task like `Alternatives(GEN, PROP) - Alternatives(PROP, GEN)`
which would be very complex to inspect. The same functionality can still
be achieved more readable as `Alternatives(Seq(GEN, PROP), Seq(PROP, GEN))`.

The confusion between BOTH (propagator *will* send in both directions) and
ANY (propagator will send in *either* direction, decided during init) led
to a lot of confusion with users and was not fully accounted
throughout the pipeline.

Adjust tests.

Notice the difference between ANY (unresolved propagator) and UNKNOWN
(a container before introspecting its children). propagators still
report UNKNOWN as requiredInterface though to simplify control flow.

The simplification enables a much simpler linear inference of the connective
structure of a task, as the first interface direction is always given.

Additionally, unify the resource setup for static interfaces to run
in the constructor, and for dynamic initialization in `pruneInterface`,
getting rid of partial initializations in `init`.
2020-04-08 13:27:36 +02:00
Robert Haschke
4cb390b187
Merge #154: Fix solution execution from rviz 2020-04-08 08:52:55 +02:00
v4hn
b0df621f66 bump cmake version
get rid of CMP0048 warning.
2020-04-03 12:14:57 +02:00
Robert Haschke
0725f81603 fix rviz solution execution
Store the set of joints involved in a received trajectories and
use this set to constrain serialization of solutions for execution to those joints only.
If this is not done, all joints of the RobotModel are considered for the trajectory,
but we might not have controllers defined for all joints, so execution will fail.

Maybe, a better approach might be to just ask the MTC planner to execute a specific solution id.
However, this requires that the planner node is still available.
2020-04-03 11:58:55 +02:00
Robert Haschke
f1acfa2f7e
Merge pull request #151: Various fixes 2020-04-03 11:58:19 +02:00
Robert Haschke
b26576dddc fix include order
As INCLUDE_DIRECTORIES of target_link_libraries always go AFTER those from target_include_directories,
we need to explicitly provide the include order for local targets.
2020-04-03 11:36:05 +02:00
v4hn
7cd82d5c04 resolve clang warnings & suggestions 2020-04-01 15:05:20 +02:00
Michael Görner
0eae0e652e
build tests using gmock via catkin_add_gmock (#148)
Otherwise these suddenly started to fail for me on Lunar Linux...
2020-03-20 20:33:33 +01:00
Michael Görner
d61e1708ce
Add an icon for the RViz interface (#144) 2020-03-19 08:46:39 +01:00
v4hn
194715abc6 limit float values in rviz to 4 digits
The previous implicit conversion leads to varying cell width.
2020-03-13 12:09:39 +01:00
Robert Haschke
5944c21016
Add qtbase5-dev build dependency (#142) 2020-03-05 08:04:50 +01:00
Robert Haschke
5037bc77e7 Use public API only in visualization package 2020-03-03 17:57:06 +01:00
Robert Haschke
7cda8e38d6 add missing Ogre includes 2020-02-06 17:31:10 +01:00
Robert Haschke
463486257b Merge #120: Add computation timing 2020-02-06 16:18:49 +01:00
Jafar Abdi
fa9b177575 transmit and display computation in rviz 2020-02-06 16:18:20 +01:00
Robert Haschke
ef6cb1a746 TaskPanel: execute selected solution 2020-01-11 09:15:11 +01:00
Michael Görner
f7b259259e Introduce clang-format (#102)
* fix catkin_lint issues
* introduce clang-format config and apply it
2019-07-18 11:04:35 +02:00
Michael Görner
1783587f41 add missing header (#100)
... for Qt 5.12.3
2019-07-12 17:25:10 +02:00
Robert Haschke
345c183d06 remove redundant nullptr checks before delete 2019-06-04 14:20:47 +02:00
Robert Haschke
95455c2a26 fix Task::operator=(Task&&)
To move a task instance to another one, it's not sufficient to swap all task members,
but we also need to adapt all back pointers, i.e. me_ and parent_ pointers of children,
to point to the (swapped) task instances.
2019-06-04 14:20:47 +02:00
Robert Haschke
11fb15fd0c fix clang-tidy warnings
- virtual functions used in constructor / destructor
- captured variable in lambda expression not used
- unhandled enums in switch
2019-05-03 01:53:17 +02:00
Robert Haschke
39427f89bf Merge branches 'fix-interface-deduction' (#84), 'compute-ik-default-timeout' (#80),
'fix-visualization' (#76), and master-improvements (#81)
2019-03-11 14:09:03 +01:00
Robert Haschke
2da9e0d722 rework solution msgs
- to allow solution wrappers (WrappedSolution, SolutionSequence)
  to transmit their comment and markers as well
- introduced new SolutionInfo.msg,
  which is the info common to solution wrappers and actual SubTrajectories
2019-02-12 13:57:12 +01:00
Robert Haschke
527ec8edaa correctly sort upstream_solutions_ in ComputeIK and GeneratePose
Reworked cost_queue to correctly sort pointer-like types.
Added unittests for new ValueOrPointeeLess<T> less operator, ordered<T>, and rviz cost ordering.
2019-02-12 03:05:36 +01:00
Robert Haschke
16e97f1caa TaskView: configure initial expansion state for tasks 2019-02-11 19:37:20 +01:00
Robert Haschke
1ce66c758b extensible TaskPanel
Provide TaskPanel::addSubPanel() to add new sub panels.
Each panel can be activated with an associated QToolButton.
Sub panels, derived from base class SubPanel, automatically load/save their config settings.
All settings are shown in GlobalSettingsWidget (renamed from TaskSettings).
2019-02-11 19:37:20 +01:00
Robert Haschke
6950cf2b8e create TaskPanel via rviz::VisualizationFrame::addPanelByName()
... ensuring that rviz also saves the panel's settings
2019-02-11 19:37:20 +01:00
Robert Haschke
e815fb41c2 RemoteTaskModel: all props read-only
... including ones registered in PropertyFactory
2019-02-10 06:21:51 +01:00
Robert Haschke
bb61513cb8 libyaml-based, incremental parsing of properties
... ensures display in document order
2019-02-10 06:21:51 +01:00
Robert Haschke
9810e3bb4b wip: understand event-based, incremental parsing with libyaml 2019-02-10 06:21:51 +01:00
Robert Haschke
e71376743c yamp-cpp parsing 2019-02-10 06:21:51 +01:00
Robert Haschke
20e951bf63 PropertyFactory::createDefault()
... creating a read-only rviz::Property from serialized mtc::Property value
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
f9715f0c18 pass PlanningScene + DisplayContext to rviz::Property creation
... to allow properties to display scene-specific lists or create rviz markers
2019-01-18 00:11:17 +01:00
Robert Haschke
780e09145e stage-specific factories for PropertyTreeModel
To allow stages to display their properties in a custom fashion, e.g.
to show the end-effector marker for PoseStamped, we need to be able
to register stage-specific factories.
2019-01-18 00:11:17 +01:00
Robert Haschke
3f3c2f6bf9 Update MTC property on changes of rviz property 2019-01-18 00:11:17 +01:00
Robert Haschke
5b8d841094 RemoteTaskModel: show stage properties 2018-11-28 08:16:16 +01:00
Robert Haschke
6d81743a0b comments 2018-11-28 08:16:16 +01:00
Robert Haschke
5690d68311 fix display of attached objects
similar as in https://github.com/ros-planning/moveit/pull/1202
2018-11-23 11:09:56 +01:00
v4hn
9740179f7f Merge branches 'cleanup-planner-interface', 'connect', 'fix-visualization' and 'rviz-createMarker' into master 2018-10-22 17:31:01 +02:00
Robert Haschke
aeaf497c75 propagate info about config changes to rviz 2018-10-20 23:33:54 +02:00
Robert Haschke
cb0ed11275 cleanup TaskPanel creation
automatically remove TaskPanel when last TaskDisplay is closed
2018-10-20 23:33:54 +02:00
Robert Haschke
f6d9bd14f4 remove left debugging stuff 2018-10-20 23:33:54 +02:00
Robert Haschke
be314905a9 fix realtime rviz display
In realtime mode, rviz display stopped with the last waypoint and didn't
show the final scene.
2018-10-20 23:33:54 +02:00
Robert Haschke
c3078edc99 use newly provided rviz::createMarker() function 2018-10-20 23:33:03 +02:00
Robert Haschke
a745f55ab7 fix compiler warnings in release mode 2018-10-17 01:55:28 +02:00
Robert Haschke
1787a66d37 fix compiler warnings 2018-10-16 23:14:58 +02:00
Robert Haschke
f2573e9bfd fix include order
Local headers should be preferred over those from underlay.
Consequently use target_include_directories() to properly define include order.
2018-09-25 13:30:53 +02:00
Robert Haschke
c2dd28abae rework storing of solutions
- solutions_, failures_ as SolutionBaseConstPtrs in StagePrivate
- replace processSolutions() / processFailures() by direct const-access to storage containers
- generic sendForward(), sendBackward(), spawn(), connect() methods in StagePrivate
- reuse StagePrivate's sendForward(), sendBackward(), spawn() in containers

- store created InterfaceStates in StagePrivate::states_
- Interface: ordered<InterfaceState*> (only store pointers)
  allows for common handling of states of valid and failure solutions

- remove additional state+solution storages
- containers: internal->external state mapping as InterfaceState* -> InterfaceState*
2018-05-30 21:02:50 +02:00
Robert Haschke
eb50aaed0e SolutionBase: rename 'name' to 'comment' 2018-05-30 20:25:42 +02:00