Commit Graph

126 Commits

Author SHA1 Message Date
Robert Haschke
6d10f7e835 moved plan publishing into debug.cpp 2017-09-28 20:35:44 -07:00
Robert Haschke
fd62e46828 use namespace definitions 2017-09-28 20:33:42 -07:00
v4hn
cab3bba342 use const_cast instead of static_cast 2017-09-28 11:44:28 -07:00
Robert Haschke
d02816ef67 avoid double state update before collision check (#2) 2017-09-28 11:42:44 -07:00
Robert Haschke
a5b7f0c2f3 fix publishing plans 2017-09-28 00:03:47 -07:00
v4hn
557b1cbe16 ur5 demo: max ik solutions is 8 with UR5 2017-09-13 12:10:15 +02:00
v4hn
f1039b8c14 ggp: add max_ik_solutions parameter
With 6DOF planning groups the user often knows an upper limit
on how many ik solutions there are.

Specifying the limit avoids looking for additional IK solutions until timeout.
2017-09-13 12:08:26 +02:00
v4hn
8501bb8ae1 ur5 demo: use negative delta 2017-09-13 12:01:06 +02:00
v4hn
988886d57c GGP: allow for negative deltas 2017-09-13 12:00:45 +02:00
v4hn
d2d93967ce consistency: Begin -> Beginning 2017-09-12 09:21:31 +02:00
v4hn
d801c4441c simplify interface
the currently-advertised version is a linear pipeline
and the graph-based version would still need some reworking,
so stick with simple "add".
2017-09-04 00:52:49 +02:00
v4hn
491098e0c3 use weak_ptr instead of raw pointer
Using shared_ptr, this is cleaner
2017-09-04 00:52:00 +02:00
v4hn
d33aec2715 fix typo 2017-09-03 18:44:35 +02:00
v4hn
789b94c2ac don't sleep after publishing solutions 2017-03-24 12:49:23 +01:00
v4hn
be4769c03c task: publish plans until now after each round of computation 2017-03-24 12:48:58 +01:00
v4hn
25fcc39a33 task: flag previously returned trajectories to return them only once
This required to move from RobotTrajectorys to SubTrajectorys in more
interfaces, as well as fewer const-changes to handle the flags.
2017-03-24 12:46:59 +01:00
v4hn
344713536d demo ur5: spawn object in the beginning 2017-03-24 12:43:43 +01:00
v4hn
3c3ae44517 actually handle return values in traversal code... 2017-03-12 17:34:37 +01:00
v4hn
e0e1c77eb4 change co to cylinder 2017-03-11 12:12:52 +01:00
v4hn
9717250908 name ur5 demo explicitly 2017-03-11 12:12:26 +01:00
v4hn
7b7e8cf3c5 add pick demo with trixi 2017-03-07 15:06:31 +01:00
v4hn
76114d5fbd split up build into subfolders for tests/demos 2017-03-07 15:04:42 +01:00
v4hn
4955a64181 add methods to traverse through all solutions 2017-03-07 14:58:57 +01:00
v4hn
751c85cd3c add two auxiliary attributes to grasp generator 2017-03-07 13:11:47 +01:00
v4hn
af67324224 add missing model_id to published cartesian trajectory 2017-03-06 23:44:04 +01:00
v4hn
f8b1b3c204 rename connect* to hasBeginning/Ending & add missing calls 2017-03-06 23:24:55 +01:00
v4hn
5d9a9c22e4 invert 1:n relationship between InterfaceState and SubTrajectory
Starting with the Move Subtask, a single InterfaceState might have
multiple trajectories associated.

On the other hand, a graph structure of nodes is arbitrary difficult to handle,
debug and even specify. Because all examples considered up to now are
linear, I decided to stay with a linear ordering for now.
This should also allow much cleaner visualizations.
2017-03-06 20:47:56 +01:00
v4hn
ca6151cacb first implementation of the Move subtask 2017-03-06 19:49:06 +01:00
v4hn
a9c9a61710 add stub for pair iteration
This is not too hard, but takes a bit of time to get right,
so I'll add a stub for the moment.
2017-03-06 19:34:11 +01:00
v4hn
895d7842a3 fix generate_grasp_pose test 2017-03-06 19:32:27 +01:00
v4hn
fa75b763e1 micro cleanup 2017-03-06 19:06:45 +01:00
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
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
bb1d072418 initial commit
add a test binary for later use.
2017-02-27 11:49:22 +01:00