v4hn
932497ce6d
do not pass failures on to monitors
...
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
Robert Haschke
b511110ae6
remove dummy file
2018-10-23 01:30:33 +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
v4hn
7fcef54a0e
fixup! add name to Connecting DEBUG output
...
This is important to differentiate between different Connect stages.
2018-10-22 17:28:52 +02:00
v4hn
13ad4d58f1
fixup! rename "goal" to "direction"
...
"Goal" implies a motion to a target configuration.
MoveRelative explicitly does not do that.
"Direction" is usually not used for rotations,
but perfectly valid to describe them.
I merged 544f574166
together with the first version of this rename
that got force-pushed because it was incomplete.
2018-10-22 17:07:00 +02:00
v4hn
a05a76fd8c
fixup! add properties for conditional debug output
...
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
70e32cb0b3
Connect: skip initial PlanningScene::diff()
2018-10-21 00:27:50 +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
aeaf497c75
propagate info about config changes to rviz
2018-10-20 23:33:54 +02:00
Robert Haschke
cb0ed11275
cleanup TaskPanel creation
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automatically remove TaskPanel when last TaskDisplay is closed
2018-10-20 23:33:54 +02:00
Robert Haschke
b5b58ea0ca
Introspection::solutionFromId()
2018-10-20 23:33:54 +02:00
Robert Haschke
f6d9bd14f4
remove left debugging stuff
2018-10-20 23:33:54 +02:00
Robert Haschke
be314905a9
fix realtime rviz display
...
In realtime mode, rviz display stopped with the last waypoint and didn't
show the final scene.
2018-10-20 23:33:54 +02:00
Robert Haschke
c3078edc99
use newly provided rviz::createMarker() function
2018-10-20 23:33:03 +02:00
Robert Haschke
02ed4d3579
Connect: verbose debugging output in case of state incompatibilities
2018-10-20 23:32:43 +02:00
Robert Haschke
c6f985be3a
Connect: allow different merge modes
...
for now:
SEQUENTIAL (no merging)
WAYPOINTS (naive)
2018-10-20 23:32:43 +02:00
Robert Haschke
ba88c59201
Merge pull request #54 from ros-planning/pr-capability
...
ExecuteTaskSolution capability
2018-10-20 23:25:48 +02:00
Robert Haschke
1e39da2388
fix stage "FixCollisionObjects"
...
... correction wasn't initialized to zero, resulting in random NaNs
2018-10-20 22:59:27 +02:00
Robert Haschke
a0a9738a00
update PlanningScene's RobotState before storing it
2018-10-20 22:02:05 +02:00
Robert Haschke
e894d8bce2
fix caching of PlanningPipeline ptrs
...
Need to reset cache if corresponding RobotModel was destroyed.
To this end, we cannot simply use the RobotModel's name.
2018-10-20 21:50:05 +02:00
Robert Haschke
f548b7edcc
PipelinePlanner: disable publishing of plan request + computed path
2018-10-20 12:21:18 +02:00
Robert Haschke
36fe4c98be
reduce copying of shared ptrs
2018-10-20 12:21:18 +02:00
Robert Haschke
d648a4091e
guard use of introspection_ pointer
2018-10-20 02:38:11 +02:00
Robert Haschke
af6f7b12bf
pick_pa10: fix initialization of RobotState
...
only a subset of joints was initialized
2018-10-20 02:38:11 +02:00
Robert Haschke
e9b16ba7c0
fix destruction order
2018-10-20 02:38:11 +02:00
Robert Haschke
3ad03cf719
generalize Property conversion between C++ and Python
...
register appropriate converters for boost::any
2018-10-18 10:00:45 +02:00
Robert Haschke
14d10a2d93
replace MessageSignature with simple ros-msg-name string
2018-10-18 10:00:45 +02:00
Robert Haschke
c145b4c5f8
better robustness against already registered boost::python type converters
2018-10-18 10:00:45 +02:00
Robert Haschke
074a3b7f03
RosMsgConverter: do not allow custom message name
2018-10-18 10:00:45 +02:00
Robert Haschke
fdec258b2c
ROSMsgConverter -> RosMsgConverter
2018-10-18 10:00:45 +02:00
Robert Haschke
1b267768fa
cleanup type conversion
2018-10-18 10:00:45 +02:00
Robert Haschke
3786ce5a15
protect fromPython / toPython
2018-10-17 02:00:14 +02:00
Robert Haschke
5d78b10366
fix compiler warnings
2018-10-17 02:00:14 +02:00
v4hn
1a4f6c0e57
keep RobotModelLoader around
...
Otherwise the robot_model_ does not remain valid
2018-10-17 01:55:28 +02:00
Robert Haschke
a745f55ab7
fix compiler warnings in release mode
2018-10-17 01:55:28 +02:00
Robert Haschke
5bae196b21
fixes for Bionic
...
boost::python 1.65 is more picky about exactly returning the placeholder type in __init__ functions.
2018-10-17 01:18:39 +02:00
Robert Haschke
c9e735ded3
fix API to match MoveTo / MoveRelative stages
2018-10-17 01:18:39 +02:00
Robert Haschke
fbbb39592b
allow PoseStamped as property
2018-10-17 01:18:39 +02:00
Martin Meier
47232dd92b
pass verbose InitStageException from C++ to python
...
reverts df43ba1d68bb5c628a8e8f13729e7cdda872f1f9
2018-10-17 01:18:39 +02:00
Robert Haschke
effa437a53
Solution.toMsg()
2018-10-17 01:18:39 +02:00
Robert Haschke
14bd867df8
expose MonitoringGenerator's setMonitoringStage()
2018-10-17 01:18:39 +02:00
Robert Haschke
ef1bbaa439
Task::init(): verbose exception output
2018-10-17 01:18:39 +02:00
Robert Haschke
ea4b1e0c21
Properties: exposeTo(), configureInitFrom()
2018-10-17 01:18:39 +02:00
Robert Haschke
c80755348c
moved python includes to global include folder too
...
catkin package expects all includes to be in one global location
2018-10-17 01:18:39 +02:00
Robert Haschke
b36d91cc02
import .core by default
2018-10-17 01:18:39 +02:00
janEbert
3c77fd1325
add reference test for properties
2018-10-17 01:18:36 +02:00
Robert Haschke
4ac0b6e2c4
merge fixes
2018-10-16 23:22:10 +02:00
Robert Haschke
1787a66d37
fix compiler warnings
2018-10-16 23:14:58 +02:00
Robert Haschke
f1764d0de4
fix tests
2018-10-16 23:14:58 +02:00