Robert Haschke
a84479cc58
Avoid segfault if TimeParameterization is not set
2024-07-03 09:32:30 +02:00
Robert Haschke
b1336dc210
CartesianPath: allow ik_frame definition
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... if start and end are given as joint-space poses
2024-06-29 18:02:05 +02:00
Abishalini
e09fecd71f
Propagate errors from planners to solution comment ( #525 )
2024-03-08 11:13:10 +01:00
Michael Wiznitzer
0827a0d260
JointInterpolationPlanner: Check joint bounds ( #505 )
2024-03-07 20:33:43 +01:00
Robert Haschke
c605a0059a
Replace namespace robot_[model|state] with moveit::core
2023-05-26 01:18:17 +02:00
Robert Haschke
7f10292ab3
JointInterpolationPlanner: pass optional max_effort property along to GripperCommand ( #458 )
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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
6dc70b1d49
PlannerInterface: provide "timeout" property
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The MultiPlanner requires to set individual timeouts for its planners.
2023-02-17 18:28:02 +01:00
Robert Haschke
052a56a333
Add MultiPlanner solvers
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a planner that tries multiple planners in sequence
2023-02-17 17:33:06 +01:00
Robert Haschke
3d3236575d
JointInterpolation: fix timeout handling
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The timeout parameter was essentially ignored and the check was always true.
2023-02-17 11:41:32 +01:00
Robert Haschke
fd123cc4a7
Fix handling of ik_frame in Cartesian path planning
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The ik_frame should move in a straight-line Cartesian path.
However, so far the link frame was following a Cartesian path.
2022-10-31 19:53:07 +01:00
Robert Haschke
64a8df1fde
Merge CI fixes/improvements
2022-10-24 10:21:34 +02:00
v4hn
c60cd6c86f
Avoid unused-parameter warnings
2022-10-24 10:21:28 +02:00
Robert Haschke
28fb974adb
Remove MoveIt compatibility code
2022-10-23 22:16:58 +02:00
Wyatt Rees
60229db010
Add KinematicsQueryOptions property in CartesianPath solver ( #370 )
2022-06-03 19:39:51 +03:00
Robert Haschke
9026ac8746
Make TimeParamerization configurable ( #339 )
2022-05-08 11:54:05 +02:00
v4hn
86fe752d43
InterpolationPlanner: implement simple IK-based solver for pose targets
2021-11-10 13:12:21 +01:00
Robert Haschke
d6f68f9254
Simplify code
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We know that trajectory at least comprises the start state.
Thus, we don't need the sanity checks.
2021-11-10 12:11:39 +01:00
Michael Görner
7ec874572c
move to tf2_eigen everywhere ( #301 )
2021-10-18 23:34:29 +02:00
v4hn
0273aec83e
remove dirty MOVEIT_MASTER-check
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... in favor of checking version numbers.
Checking for one header was used for multiple independent things.
In theory we could do exact feature testing instead of using the next release number,
but in practice nobody cares about the individual commits between older releases.
2021-08-23 00:06:42 +02:00
Robert Haschke
84ccd679d9
Fix compiler warnings
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unused parameters and functions
2021-05-19 21:54:48 +02:00
Robert Haschke
cfcb1f274e
Fix more clang-tidy issues
2021-04-24 02:12:24 +02:00
Robert Haschke
4fa8c10f44
clang-tidy auto-fixes
2021-04-24 02:03:24 +02:00
Michael Görner
36d9d3e8c0
Rework PipelinePlanner creation ( #249 )
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- Moved Task::createPlanner into PipelinePlanner::create
- Handle mutiple planner pipeline configs as introduced in https://github.com/ros-planning/moveit/pull/2127
2021-03-29 12:00:28 +02:00
Michael Görner
ee6c50ad31
Apply clang-format-10 ( #199 )
2020-08-20 11:56:53 +02:00
v4hn
8faba159f9
clang-tidy: llvm-namespace-comment
2020-06-11 11:03:50 +02:00
v4hn
2153237643
clang-format: readability-identifier-naming
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Probably the most invasive format patch, also changing some internal API.
I deliberately disabled ClassCase and MethodCase checks for the moment
to avoid public API changes in this patch set.
2020-06-11 11:03:50 +02:00
Jafar Abdi
b4fb8bb435
Allow constructing PipelinePlanner from PlanningPipelinePtr ( #155 )
2020-04-08 17:36:02 +02:00
Robert Haschke
8debe68f99
fix joint_interpolation
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- return a trajectory in any case (even if there is no motion needed)
- check feasability of goal pose
2020-04-03 11:36:05 +02:00
v4hn
233d63aa7a
avoid deprecation warnings of MoveIt master branch
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Use new methods
- moveit::core::isEmpty
- moveit::core::CartesianInterpolator::computeCartesianPath
2019-12-13 11:29:02 +01:00
Robert Haschke
4225671ae4
PipelinePlanner: always forward trajectory
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(also in case of failure)
2019-07-19 13:45:07 +02:00
Michael Görner
f7b259259e
Introduce clang-format ( #102 )
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* fix catkin_lint issues
* introduce clang-format config and apply it
2019-07-18 11:04:35 +02:00
Robert Haschke
ae75c3aa7f
Eigen::Affine3 -> Eigen::Isometry3
2018-11-28 08:14:44 +01:00
v4hn
9740179f7f
Merge branches 'cleanup-planner-interface', 'connect', 'fix-visualization' and 'rviz-createMarker' into master
2018-10-22 17:31:01 +02:00
v4hn
a05a76fd8c
fixup! add properties for conditional debug output
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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
18bf5246ed
cleanup PlannerInterface
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- 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
36fe4c98be
reduce copying of shared ptrs
2018-10-20 12:21:18 +02:00
Robert Haschke
a7b74673ce
PlannerInterface for joint-space interpolation
2018-09-25 22:16:45 +02:00
Robert Haschke
84dec07565
MoveTo/MoveRelative: generic IK target frame
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...instead of simple link name
2018-05-30 20:25:07 +02:00
Robert Haschke
ae3b9126bd
get rid off empty JointState errors
2018-04-27 12:07:27 +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
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
cb38a87a73
CartesianPath: return a partial trajectory in case of failure
2018-03-24 06:16:10 +01:00
Robert Haschke
724f0c3014
modular planning
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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