Commit Graph

786 Commits

Author SHA1 Message Date
Robert Haschke
1e953db649 non-const Property::value() 2019-03-10 17:55:46 +01:00
Robert Haschke
36df4f9975 MoveTo/MoveRelative: reduce default timeout to 1s 2019-03-10 17:55:15 +01:00
Robert Haschke
0304c22f7d ComputeIK: allow attached body as ik_frame 2019-03-10 17:50:45 +01:00
Robert Haschke
e98849249a simplify/fix color interpolation 2019-03-10 17:47:59 +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
Robert Haschke
16e97f1caa TaskView: configure initial expansion state for tasks 2019-02-11 19:37:20 +01:00
Robert Haschke
1ce66c758b extensible TaskPanel
Provide TaskPanel::addSubPanel() to add new sub panels.
Each panel can be activated with an associated QToolButton.
Sub panels, derived from base class SubPanel, automatically load/save their config settings.
All settings are shown in GlobalSettingsWidget (renamed from TaskSettings).
2019-02-11 19:37:20 +01:00
Robert Haschke
6950cf2b8e create TaskPanel via rviz::VisualizationFrame::addPanelByName()
... ensuring that rviz also saves the panel's settings
2019-02-11 19:37:20 +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
e815fb41c2 RemoteTaskModel: all props read-only
... including ones registered in PropertyFactory
2019-02-10 06:21:51 +01:00
Robert Haschke
bb61513cb8 libyaml-based, incremental parsing of properties
... 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()
... 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
- 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
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
... 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
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
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
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
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
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
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
- add mtc_demos
- add Melodic
2018-10-25 00:12:54 +02:00