v4hn
f1fb66b06f
reset planner before rml_
...
apparently this isn't enough though... Something else seems to store
the robot model (or planner plugin?) because I still get
1488809503.141933190: ros.rosconsole_bridge.class_loader.ClassLoader: SEVERE WARNING!!! Attempting to unload library while objects created by this loader exist in the heap! You should delete your objects before attempting to unload the library or destroying the ClassLoader. The library will NOT be unloaded.
2017-03-06 15:13:05 +01:00
v4hn
3ddf3bf808
don't sleep anymore after each round of computation
2017-03-06 15:09:29 +01:00
v4hn
669699467c
implement attaching objects with gripper
2017-03-06 15:08:59 +01:00
v4hn
5d41af19d1
change gripper subtask to use EndEffector
2017-03-06 15:08:32 +01:00
v4hn
fb532045fe
generate_grasp_pose: utilize MoveIt's EndEffector model
...
This assumes the end-effector is properly setup in the srdf,
but simplifies setup of the subtask.
2017-03-06 14:53:14 +01:00
v4hn
4637e1fffd
add step size parameter to CartesianPositionMotion
2017-03-06 14:37:30 +01:00
v4hn
06cc984cff
cartesian_position_motion: respect frame of target
...
I just missed this before...
2017-03-06 13:26:56 +01:00
v4hn
88417f2d06
cartesian_position_motion forward to target needs no max_distance check
2017-03-05 22:58:59 +01:00
v4hn
67487bf177
add test_plan_cartesian_forward
2017-03-05 22:58:46 +01:00
v4hn
be828860f4
cartesian_position_motion: add beginning->end inference & mode_along
2017-03-05 21:43:31 +01:00
v4hn
de9a5f02f8
gripper: allow collisions with grasped object
2017-03-05 13:35:52 +01:00
v4hn
d48f7519cf
convert gripper subtask to planning_pipeline
...
This relies on `MoveGroupInterface::constructMotionPlanRequest()` which
is not yet upstream.
This change is required to directly pass the relevant planning scene
in there instead of sending *just the start RobotState* to the action.
This allows subtasks to change other aspects of the scene, e.g.
allowed collisions or new collision objects.
2017-03-05 13:12:50 +01:00
v4hn
07b1a72030
add planning pipeline to task and subtasks
...
This allows to plan in the subtasks without ROS communication
2017-03-05 13:06:16 +01:00
v4hn
0a6b3181be
plan_pick: reduce number of possible approaches
2017-03-04 17:06:05 +01:00
v4hn
7910e23adb
remove hardcoded name of robot model in trajectory
2017-03-04 17:01:54 +01:00
v4hn
42b78eb8c5
don't reprint state at end of plan_pick
2017-03-04 17:00:02 +01:00
v4hn
86c908861d
cartesian_position_motion: refactored
2017-03-04 16:59:24 +01:00
v4hn
2962ba65d9
cartesian_position_motion: state is valid if *not* colliding
2017-03-04 16:56:15 +01:00
v4hn
70145aae29
draft implementation of cartesian_position_motion - one way only for the moment
2017-03-04 00:08:52 +01:00
v4hn
31c88bb9d6
generate grasps: add GripperGraspPose
...
Otherwise this always uses the current gripper state.
2017-03-03 12:17:57 +01:00
v4hn
d1def8235c
add generate grasp pose to plan_pick
...
This doesn't make much sense, but it's nice to see
the structure does not directly fall apart :)
2017-03-02 20:33:01 +01:00
v4hn
30961436f1
subtask: add has* functions to facilitate canCompute
2017-03-02 19:35:31 +01:00
v4hn
9c5c87fc58
generate_grasp_pose: add grasp offset
...
This (as probably known from many other implementations...) allows
to grasp the object with the end effector link being further away from it.
2017-03-02 19:23:56 +01:00
v4hn
42fb4c147b
gengrasppose: produce better output
2017-03-02 17:41:28 +01:00
v4hn
a346b64e35
test_plan_gen_grasp_pose: clean exit
2017-03-02 17:36:19 +01:00
v4hn
a2ce5909a1
task: abort if nothing could compute
2017-03-02 17:35:31 +01:00
v4hn
f247901623
generate grasp pose: store colliding states as infeasible solutions
...
This way there is no need to do collision checking for this solution again
2017-03-02 17:24:21 +01:00
v4hn
c3c6d899cb
fix implicit copy
...
It seems (not verified) the vector is copied here by bind.
Instead, let's pass a pointer.
2017-03-02 17:23:13 +01:00
v4hn
798f9c0839
add angle delta for generate grasp poses
2017-03-02 17:21:36 +01:00
v4hn
19c351b27d
generate grasp poses: retrieve multiple IK solutions & check collisions
2017-03-02 17:20:48 +01:00
v4hn
34bd5f8614
generate grasp poses: add time management
2017-03-02 14:54:13 +01:00
v4hn
5ff374a551
remove superfluous include
2017-03-02 13:39:13 +01:00
v4hn
e3604eab38
stub: plan ad infinitum and print after each iteration
2017-03-02 13:37:28 +01:00
v4hn
6e5308740b
first incomplete version of GenerateGraspPose
2017-03-02 00:40:51 +01:00
v4hn
cd6f2d74da
add explicit destructor for Task
...
Without this rml_ would be deleted before all IK plugins are unloaded
and class_loader still can't handle this...
2017-03-01 16:27:20 +01:00
v4hn
a1ef95300c
add a simple printState function to task
2017-03-01 16:17:09 +01:00
v4hn
63e1d4fd78
reorder subtask get functions
2017-03-01 16:09:54 +01:00
v4hn
2e190cfd7d
enable open-gripper in plan_pick
2017-03-01 15:44:19 +01:00
v4hn
c77d9106a6
introduce more interfaces / Gripper forward planning now works
2017-03-01 15:19:30 +01:00
v4hn
651fd9a946
activate CurrentState in plan_pick
2017-02-28 17:09:58 +01:00
v4hn
039f1e6896
Task now holds a PlanningScene
...
instead of just a RobotModel.
All generating subtasks need the scene,
so avoid every single one of them asking for it.
2017-02-28 16:47:09 +01:00
v4hn
8af3645af9
first implementation of subtask::CurrentState
2017-02-28 15:37:25 +01:00
v4hn
0bcef6b07c
stub planning by calling each subtask once
2017-02-28 15:36:43 +01:00
v4hn
0e5d39a94d
introduce a number of interfaces as loose ends
2017-02-28 15:27:05 +01:00
v4hn
bd67649fd2
first sketch of the graph design
...
+ skeleton of a first node "current_state"
+ vision of a test application
2017-02-28 11:29:38 +01:00
v4hn
e2b3cdb27d
add gitignore for vim swp
2017-02-28 11:12:18 +01:00
v4hn
bb1d072418
initial commit
...
add a test binary for later use.
2017-02-27 11:49:22 +01:00