Robert Haschke
9ceecd235f
SerialSolution -> SolutionSequence
2018-04-05 13:51:50 +02:00
Robert Haschke
4d77390d77
validate existence of object frame in init()
2018-04-05 13:50:09 +02:00
Robert Haschke
9e1c3059e1
derive GenerateGraspPose from GeneratePose
2018-04-05 13:50:09 +02:00
Robert Haschke
3640928a76
postpone pose transformation
2018-04-05 13:50:09 +02:00
Robert Haschke
603696f294
add missing reset()
2018-04-05 13:50:09 +02:00
v4hn
76c6ba14fa
add a simple GeneratePose stage
...
ComputeIK is a wrapper, so we can't just give it a pose to compute.
2018-04-05 13:50:09 +02:00
llach
a82a48bb70
fix PropertyMap::exposeTo: use other_name as new name for property ( #40 )
2018-04-05 13:47:23 +02:00
llach
124979e2a8
MoveRelative: adapt msgs to fit class name ( #39 )
2018-04-05 13:46:13 +02:00
Robert Haschke
205beea503
Merge pull request #28 from ros-planning/pr-path-constraints
...
implement path constraints
2018-03-26 09:54:02 +02:00
Robert Haschke
2ca68e6645
actually implement path constraints for CartesianPath planner
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... validating constraints
2018-03-26 09:50:17 +02:00
v4hn
d7d80c3499
implement path constraints for Move*
2018-03-26 09:50:17 +02:00
v4hn
80ae01dcca
expose timeout property as typed setter
2018-03-26 09:50:17 +02:00
v4hn
8af44cefc3
add path constraints to planner API
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and use it in the Connect class.
The cartesian planner ignores the constraints for now.
2018-03-26 09:50:17 +02:00
Robert Haschke
f0dc02e2c3
ContainerBasePrivate::position() -> childByIndex()
2018-03-26 00:24:25 +02:00
Robert Haschke
84f5c481be
ContainerBasePrivate::position(): generically handle shifting
2018-03-26 00:24:25 +02:00
Robert Haschke
ff0ee407ff
remove tool_to_grasp_tf from SimpleGrasp
2018-03-25 06:07:53 +02:00
Robert Haschke
54e4d8eed7
remove tool_to_grasp_tf from GenerateGraspPose
2018-03-25 06:07:53 +02:00
Robert Haschke
12e134ad09
added disclaimer
2018-03-25 06:07:53 +02:00
Robert Haschke
893cb25b5b
fix isTargetPoseColliding
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- must not use new sandbox_scene (we want to display the place eef)
- jmg not needed anymore
2018-03-25 06:07:53 +02:00
Robert Haschke
c98f10478e
frame marker at ik frame
2018-03-25 06:07:53 +02:00
Robert Haschke
5b6a02d105
rename reference frame -> ik frame
2018-03-25 06:07:53 +02:00
Robert Haschke
f497112513
consider reference_frame
2018-03-25 06:04:09 +02:00
Robert Haschke
7531b8ad54
allow arbitrary reference frame for target_pose and ik frame
2018-03-25 06:04:09 +02:00
Robert Haschke
4fcac84d76
remove tests that do not test anything
2018-03-25 06:04:09 +02:00
Robert Haschke
9e5e098339
unittests
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- provide simple hard-coded robot model
- test ComputeIK::init()
2018-03-25 06:04:09 +02:00
Robert Haschke
f4adaa949a
validate available properties during init()
2018-03-25 06:04:09 +02:00
Robert Haschke
5a55a5949b
Merge branches 'bug-fixes', 'gui' and 'pick-stage'
2018-03-24 07:32:20 +01:00
Robert Haschke
a4fed6a18a
MoveTo Cartesian: create marker frame at current and goal pose
2018-03-24 06:16:10 +01:00
Robert Haschke
cb38a87a73
CartesianPath: return a partial trajectory in case of failure
2018-03-24 06:16:10 +01:00
Robert Haschke
81d88911a9
cosmetic fixes
2018-03-23 17:18:56 +01:00
Robert Haschke
2331c9aef2
pick: expose IK link frame as eef_frame
2018-03-23 17:18:56 +01:00
Robert Haschke
1c61fb3b85
expose solvers
2018-03-23 17:18:56 +01:00
llach
ea6cc4b6bf
moved "attach object" from "pick" to "grasp" stage
2018-03-23 17:18:56 +01:00
Robert Haschke
ceaf896bf8
position scene node w.r.t. fixed frame
2018-03-23 11:22:23 +01:00
Robert Haschke
c2590636b1
fixup! SerialContainer: don't consider failures for solutions
2018-03-23 11:22:23 +01:00
Robert Haschke
862ac37cd6
fix ContainerBasePrivate::copyState(): don't copy (again) on update
2018-03-23 11:22:23 +01:00
Robert Haschke
b3af170663
reset num_failures_
2018-03-23 11:22:23 +01:00
Robert Haschke
6b912c3531
MoveTo Cartesian Point: bug fix
2018-03-23 11:22:23 +01:00
Robert Haschke
6d859840c3
fix interface detection for nested SerialContainers
2018-03-23 09:18:21 +01:00
Robert Haschke
159beeb044
fix SerialContainer::canCompute()
2018-03-23 09:18:21 +01:00
Robert Haschke
bff6cc569c
pick: reusable stage for picking up an object
2018-02-25 23:14:52 +01:00
Robert Haschke
d731e943f1
Merge branch 'parallel-container'
2018-02-25 23:12:35 +01:00
Robert Haschke
9545f92678
GenerateGraspPose::reset()
2018-02-25 23:11:55 +01:00
Robert Haschke
12582f6bbc
SerialContainer: don't consider failures for solutions
2018-02-25 20:01:43 +01:00
Robert Haschke
99adfaf454
fix ParallelContainers' init()
2018-02-25 13:22:26 +01:00
Robert Haschke
dcf23f6147
relax ParallelContainer's validateConnectivity()
2018-02-25 13:22:26 +01:00
Robert Haschke
bcacda8507
implement ParallelContainer's pruneInterface()
2018-02-25 13:22:26 +01:00
eirtech
0dc4f5c53e
ParallelContainer's requiredInterface()
2018-02-25 13:22:26 +01:00
eirtech
3e4aa19246
ParallelContainer: unittests
2018-02-25 13:22:14 +01:00
Robert Haschke
a2fd5fb7b8
more constexpr InterfaceFlags
2018-02-25 11:59:51 +01:00
Robert Haschke
a24039846a
Merge branches 'analyze-property-errors' and 'fixes'
2018-02-24 13:45:51 +01:00
Robert Haschke
94bb50ddc1
fixup! PropertyMap: different exception types
2018-02-24 13:42:18 +01:00
v4hn
30de5e1a8c
add catch-rethrow for property initialization
...
The property doesn't know its own name, so we add it here
2018-02-24 13:42:18 +01:00
v4hn
78b86bb65f
add convenience overloads for setting properties
2018-02-24 13:42:18 +01:00
Robert Haschke
e9d1742337
ContainerBase::exposePropertiesOfChild
2018-02-24 13:42:18 +01:00
Robert Haschke
8152614d33
properties: init from source if current value is not defined
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- reset(): reset current value to empty, not default
- value(): return current value, or - if not defined - the default
- initialize from source if current value is undefined,
don't care about default value
2018-02-24 13:42:18 +01:00
Robert Haschke
0c8c298450
declare by std::type_index (instead of std::type_info)
2018-02-24 13:42:18 +01:00
Robert Haschke
6444229877
Stage::reportPropertyError
2018-02-24 13:42:18 +01:00
Robert Haschke
da9cdb5cf6
PropertyMap: different exception types
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undeclared
undefined
type_error
2018-02-24 13:42:18 +01:00
v4hn
7caed29cb1
elaborate runtime_error in InterfaceState
2018-02-24 13:42:12 +01:00
v4hn
9709fd687d
ComputeIK: update state to avoid dirty transforms
2018-02-24 13:42:12 +01:00
v4hn
69d3d8bd37
InitStageException::what(): distinguish stage/stages
2018-02-24 13:42:12 +01:00
Robert Haschke
cc8bcd3fdc
become agnostic to urdfdom's shared_ptr types
2018-02-24 13:42:12 +01:00
Robert Haschke
07e99461fc
conditionally normalize angular
2018-02-24 13:42:12 +01:00
Robert Haschke
cf54024379
fix derivation of propagation direction from connect stage
2018-02-24 13:42:12 +01:00
Robert Haschke
aee2525382
fix ModifyPlanningScene: pass stage properties to callback
2018-02-24 13:42:12 +01:00
Robert Haschke
b767e359e9
GenerateGraspPose: require pregrasp pose
2018-02-24 13:42:12 +01:00
Robert Haschke
6a3456f961
unittest ContainerBasePrivate::position()
2018-02-24 13:42:12 +01:00
Robert Haschke
9cd6efe46f
Stage::init(PlanningScene) -> Stage::init(RobotModel)
2018-02-24 13:37:50 +01:00
v4hn
2a2d406368
remove restriction to watch only generators
2018-02-24 13:37:50 +01:00
Robert Haschke
d035089c10
MonitoringGenerator
2018-02-24 13:37:50 +01:00
Robert Haschke
8624224d6b
FixedState generator
2018-02-24 13:37:41 +01:00
llach
e1281130ac
CurrentState: fetch scene via get_planning_scene service
2018-02-24 13:37:41 +01:00
v4hn
4f2b38f02d
add missing headers
2018-02-21 14:56:51 +01:00
Robert Haschke
cf76352d2d
Merge branches 'fix-containers' and 'fix-priority-updates'
2018-02-20 08:07:48 +01:00
Robert Haschke
ba75f7c835
fixed remaining unittest
2018-02-20 08:06:23 +01:00
Robert Haschke
e368fd9948
avoid accidental overwrite of InterfaceState
2018-02-19 09:05:56 +01:00
Robert Haschke
373d7f204f
update priorities of all interface states along a (partial) solution path
...
if a parallel container is involved somewhere in the middle, it will
again access these states, e.g. planning alternative solutions
2018-02-19 09:05:56 +01:00
Robert Haschke
1eacea6b35
reset InterfaceState::owner_ if state is removed from Interface
2018-02-19 09:05:56 +01:00
Robert Haschke
35f1540369
recursive interface auto-detection
...
trigger auto-detection from top (task) level:
only there we now for sure the accepted interface
2018-02-19 01:05:56 +01:00
Robert Haschke
f45a4e3e2c
improve validation
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- postpone pruning / interface auto-detection to top task-level
only the task state knows for sure, that it requires its wrapped child to push to both ends
- perform connectivity validation only after pruning
only then, we the interfaces are completely determined
2018-02-19 01:05:56 +01:00
Robert Haschke
a523333ef6
basic auto-detection of interfaces for propagating stages
...
works if propagation direction can be derived from a generator or
connecting stage within the sequence
start-to-end propagation through whole serial container still fails
2018-02-18 21:23:12 +01:00
Robert Haschke
1a0b9b36ee
fix connection creation
...
Establishing the interface connections, we face a chicken-egg-problem:
To establish a connection, a predecessors/successors pull interface is
assigned to the current's stage push interface.
However, propagating stages (in auto-detection mode) can only create
their pull interfaces if the corresponding, opposite-side push interface
is present already (because that's the mechanism to determine the supported
propagation directions).
Hence, we need to resolve this by performing two sweeps:
- initialization, assuming both propagation directions should be supported,
thus generating both pull interfaces, i.e. providing the egg
- stripping down the interfaces to the actual context
This context is provided by two stages pushing from both ends
into a (potentially long) sequence of propagating stages (tbd).
Contributions of this PR:
- PropagatingEitherWay: explicitly distinguish AUTO from BOTHWAYS interface
AUTO: auto-derive interface from provided push interfaces
BOTHWAYS: explicitly require both directions
- SerialContainer: (better, but not yet perfect) validation of connectivity
- ParallelContainer: determine interface from what children offer
2018-02-18 21:23:12 +01:00
Robert Haschke
ec2b06292e
extended unittest for serial connection validation
2018-02-18 14:03:57 +01:00
Robert Haschke
a4feb705d0
cleanup operator<<(ostream, *)
...
- basic implementation for StagePrivate
- implementation for Stage calls this
- implementation for ContainerBase recursively calls this
- implementation for Task added
2018-02-18 13:58:09 +01:00
Robert Haschke
1f4264c8c8
PropagatingEitherWayPrivate: count failures in both directions
2018-02-16 16:01:05 +01:00
Robert Haschke
2ea463fff4
replace std::cout with ros console
2018-02-16 16:01:05 +01:00
Robert Haschke
acffd39091
SerialContainer: fix priority propagation
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- traverse all (also partial) solution paths
- and update priority at both ends
- remove pending state pairs if cost increased to infinity
2018-02-16 16:01:05 +01:00
Robert Haschke
469c6ccede
MoveRelative: fix marker arrow
2018-02-16 11:37:57 +01:00
Robert Haschke
dd0d004052
cleanup ComputeIK
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- correctly check collision for target pose before doing IK
- visualize failed collision check / failed IK
2018-02-16 09:55:34 +01:00
Robert Haschke
deb09b7dfd
GenerateGraspPose: marker cleanup
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- remove arrow marker (approach direction isn't hard-coded anymore)
- consider all rigidly attached parent links for display
- add grasp frame
2018-02-14 17:50:02 +01:00
Robert Haschke
a8cf2dc844
GenerateGraspPose: correctly check for existence of link frames
2018-02-13 19:29:12 +01:00
Robert Haschke
7e66c24822
marker tools: allow vector of LinkModel*
2018-02-13 19:29:12 +01:00
Robert Haschke
b1fac6eed0
MoveRelative: allow zero min_distance
2018-02-13 19:29:12 +01:00
Robert Haschke
0b8bf2b8b7
example: twist motion
2018-02-13 00:01:01 +01:00
Robert Haschke
ca3bce4669
local planning scene
2018-02-12 23:58:49 +01:00
Robert Haschke
da9711a85c
example using new features
2018-02-12 23:56:10 +01:00
Robert Haschke
d053e037eb
cmake cleanup: group source files
2018-02-12 23:55:34 +01:00
Robert Haschke
4be373592a
Merge branches 'cleanup', 'wip-modular-planning', 'wip-containers', 'wip-gui' and 'wip-modify-ps'
2018-02-12 23:54:51 +01:00
Robert Haschke
724f0c3014
modular planning
...
Separate planning approaches (using MoveIt pipeline or computeCartesianPath) from stages.
This allows to reuse planning in various stages without code duplication.
Reworked stages:
Move -> Connect
Gripper + CartesianPositionMotion -> MoveTo
CartesianPositionMotion -> MoveRelative
2018-02-12 23:43:47 +01:00