Commit Graph

714 Commits

Author SHA1 Message Date
Robert Haschke
e58488ad75 Revert "Enable parallel planning with PipelinePlanner (#450)"
This reverts commit 0e02fcae77.
2025-06-02 20:45:36 +02:00
Marq Rasmussen
7e1303dee1
Reset preempt_request after canceling execution (#689)
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2025-06-02 15:54:18 +02:00
Marq Rasmussen
584197ab76
Let Task::preempt() cancel execute() (#684)
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2025-05-29 20:31:15 +02:00
Robert Haschke
dd74b59061 Merge branch 'master' into ros2 2025-02-11 08:59:27 +01:00
Robert Haschke
bad8e13254 Fix error message
... due to copy-paster error in 9ea1692f96
2025-02-11 08:10:18 +01:00
Robert Haschke
9ea1692f96
Correctly report failures instead of issueing console warnings
Don't use command-line warnings, but spawn failure solutions.
2025-02-06 15:09:15 +01:00
Robert Haschke
325c4012f5 Merge branch 'master' into ros2 2024-12-22 14:12:55 +01:00
Robert Haschke
4dfcf09516 clang-format-14 2024-12-22 14:09:08 +01:00
Robert Haschke
cd0ab8838c CI: Add Noble build 2024-12-22 14:09:08 +01:00
Robert Haschke
8c0609a711 clang-tidy fixes: std::endl -> '\n' 2024-12-22 12:29:05 +01:00
Robert Haschke
b4a37094ae Fix clang-tidy warnings 2024-12-22 12:16:58 +01:00
Cihat Kurtuluş Altıparmak
3cd567e09b
Use .hpp headers (#641)
based on PR https://github.com/moveit/moveit2/pull/3113
2024-12-22 12:13:33 +01:00
Robert Haschke
8b4aa43712 Merge branch 'master' into ros2 2024-12-09 09:54:45 +01:00
Robert Haschke
f29784e750 Improve error message
Indicate source of error as CartesianPath.
2024-12-06 12:07:15 +01:00
Robert Haschke
dc8399f221 Merge branch 'master' into ros2 2024-10-15 20:06:22 +02:00
Robert Haschke
b3b5ee6086 CI: Update pre-commit hooks / clang-format-14 2024-10-15 19:52:23 +02:00
Michael Görner
721ff356b7
provide a fmt wrapper (#615)
for special eigen formatter, which is not available in fmt9

https://github.com/fmtlib/fmt/issues/3465
https://stackoverflow.com/a/73755864/21260084
2024-09-24 20:41:12 +02:00
Robert Haschke
cc7f9f0585 Merge branch 'master' into ros2 2024-09-17 15:00:39 +02:00
Robert Haschke
99ccc115e0
Update API: JumpThreshold -> CartesianPrecision (#611)
Python: Access properties via writable references
This allows to modify properties in place, e.g. cartesian_solver.precision.translational = 0.01
2024-09-17 10:59:14 +02:00
Captain Yoshi
fdc06c3b91
Reduce stop time due to preempt (#598)
The preempt_request_ flag was only checked at the top-level task container before each compute iteration.
As a single sweep might take a while, we should check the flag before computing each stage.
2024-07-19 15:46:12 +02:00
Captain Yoshi
cd28bdcd1f
Fix early planning preemption (#597)
Calling preempt() before plan() is able to reset the preempt_requested_ flag causes the preemption request to get lost. To avoid this issue, we allow a) manual resetting of the request and b) reset the request before leaving plan().
2024-07-17 14:56:01 +02:00
Paul Gesel
60ccd74443
MoveRelative: fix segfault on empty trajectory (#595)
Check that at least one robot state exists in the robot trajectory before accessing it.

Signed-off-by: Paul Gesel <paul.gesel@picknik.ai>
2024-07-16 17:18:16 +02:00
Robert Haschke
2e9a223827
MoveRelative: handle equal min/max distance (#593)
When min_distance == max_distance > 0.0, the minimal distance might be missed due to numerical errors.
To avoid this, deactivate the minimal distance check and run the full distance as given by max_distance.
2024-07-16 08:24:55 +02:00
Robert Haschke
98000f37ff Merge branch 'master' into ros2 2024-07-13 02:07:53 +02:00
Robert Haschke
6d376fb8b9 Connect: Relax validity check of reached end state 2024-07-12 06:31:33 +02:00
Robert Haschke
26d146874a Fix failing unittests: remove static executor 2024-07-09 13:25:57 +02:00
Robert Haschke
fbc05e4496
Add property to enable/disable pruning at runtime (#590) 2024-07-06 16:51:14 +02:00
Robert Haschke
907014cd57 Disable pruning by default 2024-07-04 12:05:31 +02:00
Robert Haschke
42a08d6444 PassThrough: cleanup unused headers 2024-07-04 11:57:31 +02:00
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
... if start and end are given as joint-space poses
2024-06-29 18:02:05 +02:00
Robert Haschke
177e19de1f Generalize utils::getRobotTipForFrame()
... to return error_msg instead of calling markAsFailure() on a solution
2024-06-29 17:55:45 +02:00
VideoSystemsTech
ad5c878f19
ComputeIK: Allow additional constraints for filtering solutions (#464)
Add "constraint" property.

Co-authored-by: Robert Haschke <rhaschke@techfak.uni-bielefeld.de>
2024-05-28 16:54:10 +02:00
Robert Haschke
f79c6c537e
Connect: Relax validity check of reached end state (#542)
Looks like Rolling's MoveIt uses a more relaxed goal constraint threshold than Humble.
For this reason, all end states reached by Connect solutions of pick+place demo are rejected.
This commit relaxes the max_distance threshold of Connect accordingly.
2024-05-26 20:45:23 +02:00
Robert Haschke
92efc14043 Rename ros-planning org 2024-05-25 21:30:30 +02:00
Robert Haschke
7666f73e04
Simplify formatting code with https://github.com/fmtlib (#499)
* Simplify formatting code with https://github.com/fmtlib
* Update to clang-format-12
2024-05-25 19:12:42 +02:00
Robert Haschke
5d2857be6b Merge branches 'simplify-node-creation' and 'master' into ros2 2024-05-24 14:39:38 +02:00
Captain Yoshi
a0c00646c2
Add NoOp stage (#534)
This stage can be used to add arbitrary user-defined properties w/o modifying the PlanningScene state or adding a trajectory.

Co-authored-by: Robert Haschke <rhaschke@techfak.uni-bielefeld.de>
2024-05-24 14:34:27 +02:00
Robert Haschke
9c05305eff ModifyPlanningScene: check state for collisions 2024-05-24 10:49:14 +02:00
Captain Yoshi
ad19ea5479
Add ability to move CollisionObjects (#567) 2024-05-12 11:03:47 +02:00
Robert Haschke
046309d60a Simplify rclcpp::Node creation
Directly pass node name and namespace instead of using options.
2024-05-08 10:19:28 +02:00
Sebastian Castro
819e560ed4
Improve description of max_distance property of Connect stage (#564) 2024-05-05 19:30:36 +02:00
Daniel García López
560aa0a476
Add Generator::spawn(from, to, trajectory) variant (#546) 2024-03-20 15:32:15 +01:00
Sebastian Jahr
5ae22da8db fixup! Add planner_id to SubTrajectory info (#490) 2024-03-19 14:51:35 +01:00
Robert Haschke
739375298a Merge branch master into ros2 2024-03-09 13:34:36 +01:00
Robert Haschke
55c4b52b13 Cosmetic fixes 2024-03-09 11:11:01 +01:00
Robert Haschke
4aac679257 Fix generation of Solution msg: consider backward operation
Need to generate full planning scene message if planning progressed backwards:
The scene_diff field describes PlanningScene changes of the end scene relative to the start scene,
while during planning it might be inversed.
2024-03-08 17:16:19 +01:00
Abishalini
e09fecd71f Propagate errors from planners to solution comment (#525) 2024-03-08 11:13:10 +01:00
Abishalini Sivaraman
5dd170b849 Add planner info to comments (#523) 2024-03-07 21:19:27 +01:00
Mario Prats
11c3126052 Update to the more recent JumpThreshold API (#506) 2024-03-07 20:35:03 +01:00