Commit Graph

380 Commits

Author SHA1 Message Date
Robert Haschke
0304c22f7d ComputeIK: allow attached body as ik_frame 2019-03-10 17:50:45 +01:00
Robert Haschke
c72a6cddac ComputeIK: auto-configure default timeout from JMG's default
TODO: actually set the default value but not the current value!
2019-02-21 00:53:26 +01:00
Robert Haschke
579c336558 Connecting: also check that attached objects match 2019-02-21 00:51:57 +01:00
Robert Haschke
e885c272fa Merger: skip empty sub trajectories for merging 2019-02-21 00:50:25 +01:00
Robert Haschke
1047ef08a4 ComputeIK: fix typo 2019-02-21 00:47:52 +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
v4hn
8392ed5ad3 generate IK solutions incrementally
This is not a good approach.
The same can be achieved by generating targets incrementally.
The better approach, to generate IK solutions incrementally,
has to maintain previous solutions for each target.
2019-02-10 08:17:34 +01:00
Robert Haschke
1e0a9401e7 Merge PR #72: rviz property visualization 2019-02-10 06:25:25 +01:00
Robert Haschke
e71376743c yamp-cpp parsing 2019-02-10 06:21:51 +01:00
Robert Haschke
a1c81f1236 YAML property serialization
- switch from ROS serialization/deserialization to YAML
- no native C++ deserialization for ROS msg types available
- drop Propert::print()
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
71099c68d4 Task: fix RobotModelPtr leak
On Task::clear() also need to reset introspection's cache.
2019-02-09 01:00:29 +01:00
Robert Haschke
a1f7c5d1c6 improve error msg for mismatching container/child interfaces 2019-02-06 10:29:10 +01:00
Robert Haschke
81cc0aecc6 Property::type_index -> boost::typeindex::type_info
avoid decl expressions, explicit public typedef
2019-01-17 23:54:35 +01:00
Robert Haschke
062cfe0b60 PropertyTypeRegistry to store serialization/deserialization functions 2019-01-17 23:54:35 +01:00
Robert Haschke
ae75c3aa7f Eigen::Affine3 -> Eigen::Isometry3 2018-11-28 08:14:44 +01:00
v4hn
cd9115483b let marker_ns default to stage name
The stages can still decide on their namespaces on their own,
but markerNS() at least provides a stage-specific name they can use.
2018-11-09 10:50:48 +01:00
v4hn
3176aff30f add accessors for marker_ns property 2018-11-09 10:50:40 +01:00
v4hn
ac3b56a160 document timeout() helpers 2018-11-09 10:50:33 +01:00
v4hn
6b4b4ca624 ComputeIK: threshold for new solutions as property 2018-11-09 10:50:14 +01:00
v4hn
b379ba2268 fix broken rvalue-forward & SerialContainer assert
Release mode builds previously produced broken solutions with too many entries,
debug build triggered the assert

container.cpp:334: assert(solution.empty())

The standard guarantees std::vector(&&a) leaves a.empty() == true,
so the logic there is fine as long as subsolutions is actually
used for move-construction.
2018-11-09 10:47:51 +01:00
Robert Haschke
b9a86eb5be use task id as default name of top-level stage 2018-11-08 12:55:45 +01:00
v4hn
a86eca9ada predicate filter: fix documentation 2018-11-02 15:51:24 +01:00
v4hn
cc90d5f3f2 add PredicateFilter 2018-11-02 11:53:09 +01:00
Robert Haschke
5af54b5a21 GenerateGraspPose: spawn failure if object unknown 2018-11-02 11:36:00 +01:00
Robert Haschke
0f31cdee2e move storeFailures() into public Stage API 2018-11-02 11:36:00 +01:00
Robert Haschke
915151fdd2 modify ps: add convenience functions 2018-11-02 11:21:48 +01:00
v4hn
e5fc8b62b4 MoveRelative: possibly update last waypoint before transform lookup
Apparently this RobotState is not necessarily updated,
this broke some pipeline testing over here.
2018-10-25 00:12:46 +02:00
v4hn
38cc4c6936 add comment to subtrajectory 2018-10-25 00:12:46 +02:00
v4hn
80adcb9e24 add comments to wrapped solutions 2018-10-24 11:53:14 +02:00
v4hn
73b35ef2bf do not send failures to parent
It is enough for us to investigate these locally
2018-10-24 11:47:42 +02:00
v4hn
932497ce6d do not pass failures on to monitors
They should not work with them and this
removes the need for the usual `if(s.isFailure) return`.
2018-10-24 11:44:26 +02:00
Robert Haschke
d6714e89ab fixup! rename "goal" to "direction" 2018-10-23 21:09:07 +02:00
v4hn
9740179f7f Merge branches 'cleanup-planner-interface', 'connect', 'fix-visualization' and 'rviz-createMarker' into master 2018-10-22 17:31:01 +02:00
v4hn
7fcef54a0e fixup! add name to Connecting DEBUG output
This is important to differentiate between different Connect stages.
2018-10-22 17:28:52 +02:00
v4hn
13ad4d58f1 fixup! rename "goal" to "direction"
"Goal" implies a motion to a target configuration.
MoveRelative explicitly does not do that.

"Direction" is usually not used for rotations,
but perfectly valid to describe them.

I merged 544f574166
together with the first version of this rename
that got force-pushed because it was incomplete.
2018-10-22 17:07:00 +02:00
v4hn
a05a76fd8c fixup! add properties for conditional debug output
in MoveIt planner.

These can be quite helpful.
I agree, we really don't need them enabled by default.
2018-10-22 16:59:24 +02:00
Robert Haschke
70e32cb0b3 Connect: skip initial PlanningScene::diff() 2018-10-21 00:27:50 +02:00
Robert Haschke
18bf5246ed cleanup PlannerInterface
- remove group + timeout properties: they are passed as arguments to plan()
- move max_velocity_scaling_factor, max_acceleration_scaling_factor to PlannerInterface base class
2018-10-21 00:02:10 +02:00
Robert Haschke
b5b58ea0ca Introspection::solutionFromId() 2018-10-20 23:33:54 +02:00
Robert Haschke
02ed4d3579 Connect: verbose debugging output in case of state incompatibilities 2018-10-20 23:32:43 +02:00
Robert Haschke
c6f985be3a Connect: allow different merge modes
for now:
SEQUENTIAL (no merging)
WAYPOINTS (naive)
2018-10-20 23:32:43 +02:00
Robert Haschke
ba88c59201
Merge pull request #54 from ros-planning/pr-capability
ExecuteTaskSolution capability
2018-10-20 23:25:48 +02:00
Robert Haschke
1e39da2388 fix stage "FixCollisionObjects"
... correction wasn't initialized to zero, resulting in random NaNs
2018-10-20 22:59:27 +02:00
Robert Haschke
a0a9738a00 update PlanningScene's RobotState before storing it 2018-10-20 22:02:05 +02:00
Robert Haschke
e894d8bce2 fix caching of PlanningPipeline ptrs
Need to reset cache if corresponding RobotModel was destroyed.
To this end, we cannot simply use the RobotModel's name.
2018-10-20 21:50:05 +02:00
Robert Haschke
f548b7edcc PipelinePlanner: disable publishing of plan request + computed path 2018-10-20 12:21:18 +02:00
Robert Haschke
36fe4c98be reduce copying of shared ptrs 2018-10-20 12:21:18 +02:00
Robert Haschke
d648a4091e guard use of introspection_ pointer 2018-10-20 02:38:11 +02:00
Robert Haschke
af6f7b12bf pick_pa10: fix initialization of RobotState
only a subset of joints was initialized
2018-10-20 02:38:11 +02:00
Robert Haschke
e9b16ba7c0 fix destruction order 2018-10-20 02:38:11 +02:00
v4hn
1a4f6c0e57 keep RobotModelLoader around
Otherwise the robot_model_ does not remain valid
2018-10-17 01:55:28 +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
f1764d0de4 fix tests 2018-10-16 23:14:58 +02:00
Robert Haschke
940543a063 fixup! allow preemption of Task::plan() 2018-10-16 23:14:58 +02:00
Robert Haschke
b5bc97b3eb Task::execute() 2018-09-25 22:17:42 +02:00
Robert Haschke
7bd9bcf972 allow preemption of Task::plan() 2018-09-25 22:16:45 +02:00
Robert Haschke
e5e291d86f FixCollisions stage 2018-09-25 22:16:45 +02:00
Robert Haschke
a7b74673ce PlannerInterface for joint-space interpolation 2018-09-25 22:16:45 +02:00
Robert Haschke
4860462076 ComputeIK: forward child solution's comment 2018-09-25 16:25:22 +02:00
Robert Haschke
c70db65578 fixup! MoveTo: store goal as any type 2018-09-25 16:25:13 +02:00
Robert Haschke
ca9d50e7d8 fix compiler warnings 2018-09-25 13:30:53 +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
ff2474f262 pa10 doesn't need move_group 2018-06-03 12:36:12 +02:00
Robert Haschke
932ab5eba3 cast demos as integration unit tests
- moved demos from demo to test folder
- run them as unittest, checking range of solutions
2018-06-03 12:36:01 +02:00
Robert Haschke
3215880b98 Merge branches 'move-to', 'simple-grasp' and 'properties' into master
These branches only work together:
- MoveTo / MoveRelative: common handling of "goal" property
- properties: required changes to allow for multiple inheritance
- generalize SimpleGrasp / GenerateGraspPose
2018-06-03 11:38:50 +02:00
Robert Haschke
2e46082521 remove Container::exposePropertiesOfChild() 2018-06-03 11:36:50 +02:00
Robert Haschke
157caac385 generalize SimpleGrasp / GenerateGraspPose
- move "pregrasp", "grasp" property from SimpleGrasp to GenerateGraspPose
- Container::exposePropertiesOfChild: decouple exposure from inheritance
2018-06-03 11:36:50 +02:00
Robert Haschke
544f574166 MoveRelative: store goal as any type 2018-06-03 09:22:06 +02:00
Robert Haschke
00260d62b5 MoveTo: store goal as any type 2018-06-03 09:22:06 +02:00
Robert Haschke
941dee7fc1 exposeTo: const method 2018-06-03 09:22:06 +02:00
Robert Haschke
abc4c5de50 PropertyMap: allow any type 2018-06-03 09:18:37 +02:00
Robert Haschke
a8431ce661 Container::exposePropertiesOfChild: allow skipping of undefined props 2018-06-03 06:46:12 +02:00
Robert Haschke
0dab499533 Stage: generally allow forwarding of interface properties 2018-06-03 06:46:12 +02:00
Robert Haschke
92296e020f SimpleGrasp(GraspGenerator)
allow any GraspGenerator stage that provides "pregrasp" and "grasp"
postures as well as a target_pose for grasping.
2018-06-03 06:46:12 +02:00
Robert Haschke
beffe27987 improve property debugging 2018-06-03 06:42:11 +02:00
Robert Haschke
cbb2cd69f7 property inheritance: both from PARENT and INTERFACE
- source_id -> source_flags: bits indicating configured paths
- initializers, e.g. fromName(), should throw
- ignore undeclared errors during inheritance
- on undefined error, reset the value to None
- override value only if previously set by lower-priority source
  MANUAL > CURRENT > PARENT > INTERFACE
2018-06-03 06:36:15 +02:00
Robert Haschke
abea2ee82b reuse boost::any's type_index type 2018-06-02 17:46:37 +02:00
Robert Haschke
2e9932cfbc fix: don't report config issues as successful (but empty) solutions 2018-06-02 17:46:28 +02:00
v4hn
381210f43d compatibility with boost 1.54
This is required for ROS indigo on ubuntu 14.04
2018-06-01 15:02:11 +02:00
Michael Görner
5739bf39d9 use correct frame in pick (#52) 2018-06-01 14:55:23 +02:00
v4hn
0091c76208 compute ik: ignore collisions skips early eef check 2018-06-01 11:34:07 +02:00
v4hn
4026661bfe Rewrite and relax approx comparisons
This is more readable.

Adjusting the threshold to 1e-4 is required to allow for tolerances
in potential sampling planner steps in between.
2018-06-01 11:32:29 +02:00
v4hn
bd1edcbde7 add max_solutions param to plan()
For big problems you just don't want *all* solutions
2018-06-01 11:13:44 +02:00
Robert Haschke
ac1ccba883 minor formatting changes (#51) 2018-05-31 18:01:30 +02:00
Robert Haschke
b35aba6e19 validate merged trajectories 2018-05-30 21:23:34 +02:00
Robert Haschke
941e9df737 declare properties "timeout", "marker_ns" for all stages 2018-05-30 21:21:14 +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
v4hn
ae6b86c7d7 remove void line
?
2018-05-30 21:02:19 +02:00
Robert Haschke
5878e8ab6b correctly reset FixedState 2018-05-30 21:02:03 +02:00
Robert Haschke
52fdf30433 simplify compute() API
- remove bool return value
- always create a solution trajectory, also in case of failures
- success/failure determined from solution.isFailure()

minor adjustments during cherry-pick
2018-05-30 21:01:34 +02:00
Robert Haschke
eb50aaed0e SolutionBase: rename 'name' to 'comment' 2018-05-30 20:25:42 +02:00
Robert Haschke
84dec07565 MoveTo/MoveRelative: generic IK target frame
...instead of simple link name
2018-05-30 20:25:07 +02:00
v4hn
495c80350b Merge branches 'joint_pose', 'move-relative-joints', 'basic-merger' and 'compute-ik' 2018-05-30 19:35:58 +02:00
v4hn
015b1466f4 MoveRel: handle unknown links with hard failure 2018-05-30 19:09:57 +02:00
v4hn
56c9128d99 MoveTo: cleaner strict handling of invalid properties 2018-05-30 18:53:39 +02:00
v4hn
b8e6e5e2fa MoveTo: reduce scope of try-catch 2018-05-30 18:44:26 +02:00
v4hn
bbd274da96 MoveTo: simplify getJointStateGoal 2018-05-30 18:42:31 +02:00