Commit Graph

951 Commits

Author SHA1 Message Date
Abishalini
c8a75cb2ac tl::expected -> MoveItErrorCode 2024-01-23 09:02:10 -07:00
Abishalini
c5bf96f5f7 Fix bug in move relative 2024-01-18 12:55:29 -07:00
Abishalini
823899fabd Propagate errors from planners 2024-01-18 11:36:56 -07:00
Abishalini
2ffacf821f Use tl expected 2024-01-18 11:36:56 -07:00
Abishalini Sivaraman
57e8490fdf
Add planner info to comments (#523) 2024-01-16 10:13:01 +01:00
Sebastian Jahr
8fc2016c74
Fix MTC unittests for new pipeline refactoring (#515) 2023-12-07 17:29:52 -07:00
Mario Prats
5319a65176
Update to the more recent JumpThreshold API (#506) 2023-11-10 17:45:52 +01:00
Robert Haschke
2f06438a86
fixup! Reset joint values in scene diff for execution (#504) 2023-11-09 11:28:02 +01:00
Michael Wiznitzer
06b7b77e9e
JointInterpolationPlanner: Check joint bounds (#505) 2023-11-08 23:45:41 +01:00
Sebastian Jahr
81a5a6bc22
Revert implicit property inheritance (#502) 2023-11-03 17:24:36 +01:00
Joseph Schornak
94d65143be
[ros2] Add Stage property to assign a list of controllers to use when executing the planned trajectory (#355)
* Add "controllers" property to Stage and pass them to PlanExecution #123

* Change new property from controller names string to TrajectoryExecutionInfo

---------

Co-authored-by: Luca Lach <llach@techfak.uni-bielefeld.de>
2023-11-02 10:25:22 +01:00
Sebastian Jahr
8375e6ef3e
Add random pose generator stage (ros2) (#497)
* Add random pose generator

* Fix clang-tidy

* Apply suggestions from code review

Co-authored-by: Sebastian Castro <4603398+sea-bass@users.noreply.github.com>

* Add warning and format

---------

Co-authored-by: Henning Kayser <henningkayser@picknik.ai>
Co-authored-by: Sebastian Castro <4603398+sea-bass@users.noreply.github.com>
2023-10-24 17:06:05 +02:00
Sebastian Jahr
fb02c7f202
Reset joint values in scene diff for execution (#498)
* Reset scene diff in task

* Add explanation for scene reset
2023-10-24 10:39:13 +02:00
Sebastian Jahr
b25d2ba318
Remove display_motion_plans and publish_planning_requests properties (#489) 2023-10-10 16:40:00 +02:00
Sebastian Jahr
5c4ef60525
Add planner name to trajectory info (#490)
* Add planner name to trajectory info

* Extend unittest
2023-10-09 15:12:58 +02:00
Sebastian Jahr
39eeae4a1b
set a non-infinite default timeout in CurrentState stage (#491)
Co-authored-by: Mario Prats <mario.prats@picknik.ai>
2023-10-06 18:04:25 +02:00
Sebastian Jahr
f4cd7d5b85
Enable parallel planning with PipelinePlanner (#450)
* Refactor pipeline planner

Make code readable

Re-order plan functions

Make usable with parallel planning

Enable configuring multiple pipelines

Add callbacks

Cleanup and documentation

Add API to set parallel planning callbacks and deprecate functions

Pass pipeline map by reference

Small clang-tidy fix

Update core/src/solvers/pipeline_planner.cpp

Co-authored-by: Sebastian Castro <4603398+sea-bass@users.noreply.github.com>

Update core/src/solvers/pipeline_planner.cpp

Format

Refactor to avoid calling .at(0) twice

Use no default stopping criteria

Update fallbacks_move demo

* Cleanup + address deprecation warnings

* Enabling optionally using a property defined pipeline planner map

* Address review

* Disable humble CI for ros2 branch

* Add pipeline planner unittests + some checks

* Add short comment
2023-10-04 15:20:10 +02:00
Robert Haschke
349e3c6c6c Merge branch master into ros2 2023-05-26 16:38:15 +02:00
Robert Haschke
c605a0059a Replace namespace robot_[model|state] with moveit::core 2023-05-26 01:18:17 +02:00
Robert Haschke
6f7282423d MPS: fixup processCollisionObject
- Declare CollisionObject argument as constant:
  Internally the argument is temporarily modified, but for a caller it is effectively const.
- Correctly restore the old operation mode
- Fixup check in unit test
2023-05-26 01:15:50 +02:00
Robert Haschke
3ec69fb59d
Merge PR #460: improvements to ModifyPlanningScene stage 2023-05-25 22:29:31 +02:00
Robert Haschke
5382338933 Disable MPS tests, failing due to #432 2023-05-25 21:52:07 +02:00
Robert Haschke
78da3e46e6
Gracefully handle NULL robot_trajectory (#469) 2023-05-25 17:49:23 +02:00
JafarAbdi
45ff3ea437 Improve cmake
- Modernize
- Add include folder for INSTALL_INTERFACE
2023-05-25 17:05:45 +02:00
Robert Haschke
76d293863b
introspection: remove any invalid ROS-name chars from hostname (#465) 2023-05-19 08:48:28 +02:00
Robert Haschke
397fc070ea Fix SolutionBase::fillMessage(): also write start_scene
This method was only doing half of the job, namely adding subsolutions
to the message fields. However, the start_scene was not yet written.
This was handled manually in some but not all callers.
To avoid this inconsistency, the new method toMsg() takes care of both
actions now, while the old fillMessage() method was renamed to appendTo().
2023-05-19 08:43:14 +02:00
Robert Haschke
bd400de184 Fix add/remove object in backward operation
- addObject() will actually remove the object from scene
- removeObject() is not supported (we would need to know which object to add)
2023-05-19 08:43:12 +02:00
Robert Haschke
1daef934ee Add python binding for ModifyPlanningScene::removeObject 2023-05-19 08:43:12 +02:00
Robert Haschke
6a01550e8d ComputeIK: update RobotState before calling setFromIK()
This became necessary due to https://github.com/ros-planning/moveit/issues/3388.
2023-05-17 21:01:57 +02:00
Michael Görner
4d2a5714fa
Use pluginlib consistently (#463) 2023-05-17 19:55:18 +02:00
VideoSystemsTech
dee73b2dde
Expose argument of PipelinePlanner's constructor to Python (#462) 2023-05-16 14:32:17 +02:00
Robert Haschke
d59acdb969 Fix allowCollisions(object, enable_collision)
Call ACM::setDefaultEntry to also cover objects that are not yet known to the ACM.
2023-05-16 09:43:00 +02:00
Robert Haschke
45ca1a67a9 TestModifyPlanningScene 2023-05-16 09:42:25 +02:00
Robert Haschke
b318c3cae9 Basic Move test: MoveRelative + MoveTo 2023-05-05 00:21:11 +02:00
Robert Haschke
84cb880a9d Add python binding for ModifyPlanningScene::allowCollisions(std::string, bool) 2023-05-05 00:21:11 +02:00
Robert Haschke
1002d84946 Add python binding for Task::insert 2023-05-04 23:22:49 +02:00
Robert Haschke
d1a6916206
Stage::explainFailure() (#445)
... to facilitate spotting the stage causing a task to fail
2023-05-04 17:07:11 +02:00
Robert Haschke
ede7cb71cc
Improve documentation (#431)
* Improve general description of stage and container types
* Clarify purpose of `CurrentState` stage
* Add troubleshooting section
2023-05-04 17:02:00 +02:00
Robert Haschke
7f10292ab3
JointInterpolationPlanner: pass optional max_effort property along to GripperCommand (#458)
MoveIt passes the effort field of the last trajectory point as the max_effort for a GripperCommand.
Thus we pass the max_effort property to the effort field of the trajectory's last waypoint.
2023-05-04 15:29:53 +02:00
Robert Haschke
b346e7eb78
Task: findChild() and operator[] should directly operate on stages() (#435)
Considering the (fixed) name of the top-level container is meaningless.
2023-05-04 15:23:23 +02:00
Robert Haschke
f07b81fcd0 cleanup 2023-05-04 14:26:34 +02:00
Mario Prats
a0befc5b75
Remove redundant semicolon to silent compiler warning (#448) 2023-03-22 15:15:13 +01:00
Robert Haschke
4781ed5636 ros1-0.1.3 2023-03-06 16:37:54 +01:00
Robert Haschke
c57a0bcc12 Fixup: Remove moveit/__init__.py during .deb build
Fix install path recognition (6671aedeb7). Debian install process targets:
/tmp/binarydeb/ros-noetic-moveit-task-constructor-core-<version>/debian/ros-noetic-moveit-task-constructor-core/opt/ros/noetic/lib/python3/dist-packages/moveit
2023-03-06 16:31:59 +01:00
Robert Haschke
75e4260e2a
MoveRelative: Allow backwards operation for joint-space delta (#436) 2023-03-06 16:27:09 +01:00
Robert Haschke
61bb2fdc58
ComputeIK: Limit collision checking to JMG (#428)
That's what MoveIt is doing as well.
2023-02-28 13:18:53 +01:00
Robert Haschke
a3cb8c6584 Fix: Fetch pybind11 submodule if not yet present
cmake's execute_process pipes COMMANDs together.
Thus, `git submodule update` received the output of `git submodule init` as input
and didn't do anything.
2023-02-28 11:15:05 +01:00
Robert Haschke
ca1c7c7e24 Fix typo 2023-02-28 11:13:24 +01:00
Robert Haschke
d07aece163 ros1-0.1.2 2023-02-24 00:02:47 +01:00
Robert Haschke
6671aedeb7 Remove moveit/__init__.py during .deb builds 2023-02-23 23:55:38 +01:00