Robert Haschke
c56c7294e4
fix pruning
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Never augment already derived interfaces, only prune!
2019-03-11 13:54:54 +01:00
Robert Haschke
48d93e803d
improve SerialContainerPrivate::pruneInterface
2019-03-11 13:54:54 +01:00
Robert Haschke
905b6a3b0c
move validateConnectivity() from ContainerBase to StagePrivate
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... to allow specific stage types (PropagatingEitherWay) implementing their own validation
No need for a public interface.
2019-03-11 13:54:54 +01:00
Robert Haschke
10c7a9cfd7
prune UNKNOWN *and* PROPAGATE_BOTHWAYS
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If PropagatingEitherWay's interface is not met in *both* directions (but only one),
in BOTHWAY mode, issue a warning. Otherwise handle both, AUTO and BOTHWAY mode,
in the same fashion when resolving interfaces.
TODO: move validateConnectivity() in StagePrivate.
default action = default action from ContainerBase.
PropagatingEitherWay: issue warning for case above
2019-03-11 13:54:54 +01:00
Robert Haschke
f831fe5483
fix comments + typos
2019-03-11 13:54:54 +01:00
Robert Haschke
7d25c55978
Container: more unit tests for interface detection / validation
2019-03-11 13:54:54 +01:00
Robert Haschke
d741f36ee3
fixup! improve error msg for mismatching container/child interfaces
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We need to consider input and output interfaces separately.
Also, use console output symbols (<- / -> / <->)
2019-03-11 13:54:54 +01:00
Robert Haschke
1e0a9401e7
Merge PR #72 : rviz property visualization
2019-02-10 06:25:25 +01:00
Robert Haschke
e815fb41c2
RemoteTaskModel: all props read-only
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... including ones registered in PropertyFactory
2019-02-10 06:21:51 +01:00
Robert Haschke
bb61513cb8
libyaml-based, incremental parsing of properties
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... 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()
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... creating a read-only rviz::Property from serialized mtc::Property value
2019-02-10 06:21:51 +01:00
Robert Haschke
a1c81f1236
YAML property serialization
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- 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
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On Task::clear() also need to reset introspection's cache.
2019-02-09 01:00:29 +01:00
Robert Haschke
6b77b15b2f
update README
2019-02-07 16:57:51 +01:00
Robert Haschke
4263956079
fix Travis
2019-02-07 16:25:39 +01:00
Robert Haschke
a1f7c5d1c6
improve error msg for mismatching container/child interfaces
2019-02-06 10:29:10 +01:00
Robert Haschke
f9715f0c18
pass PlanningScene + DisplayContext to rviz::Property creation
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... 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
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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
81cc0aecc6
Property::type_index -> boost::typeindex::type_info
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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
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
ae75c3aa7f
Eigen::Affine3 -> Eigen::Isometry3
2018-11-28 08:14:44 +01:00
Robert Haschke
5690d68311
fix display of attached objects
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similar as in https://github.com/ros-planning/moveit/pull/1202
2018-11-23 11:09:56 +01:00
v4hn
cd9115483b
let marker_ns default to stage name
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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
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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
Robert Haschke
9dd0384809
Merge origin/master
2018-11-02 11:54:07 +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
Robert Haschke
77e40a997e
remove obsolete .prepare_overlay.sh
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No need to manually build parts of MoveIt, after it is released.
2018-10-25 13:09:41 +02:00
Robert Haschke
7d569fe87e
travis: add mtc_pour example
2018-10-25 13:06:56 +02:00
Robert Haschke
5258a338e1
improve travis testing
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- add mtc_demos
- add Melodic
2018-10-25 00:12:54 +02:00
v4hn
e5fc8b62b4
MoveRelative: possibly update last waypoint before transform lookup
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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
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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
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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