Robert Haschke
e58488ad75
Revert "Enable parallel planning with PipelinePlanner ( #450 )"
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This reverts commit 0e02fcae77 .
2025-06-02 20:45:36 +02:00
Marq Rasmussen
7e1303dee1
Reset preempt_request after canceling execution ( #689 )
CI / ${{ matrix.env.IMAGE }}${{ matrix.env.NAME && ' • ' || ''}}${{ matrix.env.NAME }}${{ matrix.env.CLANG_TIDY && ' • clang-tidy' || '' }} (map[CLANG_TIDY:pedantic IMAGE:rolling-source]) (push) Has been cancelled
CI / ${{ matrix.env.IMAGE }}${{ matrix.env.NAME && ' • ' || ''}}${{ matrix.env.NAME }}${{ matrix.env.CLANG_TIDY && ' • clang-tidy' || '' }} (map[DOCKER_RUN_OPTS:-e PRELOAD=libasan.so.8 -e LSAN_OPTIONS="suppressions=$PWD/.github/workflows/lsan.suppressio… (push) Has been cancelled
CI / ${{ matrix.env.IMAGE }}${{ matrix.env.NAME && ' • ' || ''}}${{ matrix.env.NAME }}${{ matrix.env.CLANG_TIDY && ' • clang-tidy' || '' }} (map[IMAGE:rolling-source NAME:ccov TARGET_CMAKE_ARGS:-DCMAKE_BUILD_TYPE=Debug -DCMAKE_CXX_FLAGS="--coverage"]) (push) Has been cancelled
Format / pre-commit (push) Has been cancelled
2025-06-02 15:54:18 +02:00
Marq Rasmussen
584197ab76
Let Task::preempt() cancel execute() ( #684 )
CI / ${{ matrix.env.IMAGE }}${{ matrix.env.NAME && ' • ' || ''}}${{ matrix.env.NAME }}${{ matrix.env.CLANG_TIDY && ' • clang-tidy' || '' }} (map[CLANG_TIDY:pedantic IMAGE:rolling-source]) (push) Has been cancelled
CI / ${{ matrix.env.IMAGE }}${{ matrix.env.NAME && ' • ' || ''}}${{ matrix.env.NAME }}${{ matrix.env.CLANG_TIDY && ' • clang-tidy' || '' }} (map[DOCKER_RUN_OPTS:-e PRELOAD=libasan.so.8 -e LSAN_OPTIONS="suppressions=$PWD/.github/workflows/lsan.suppressio… (push) Has been cancelled
CI / ${{ matrix.env.IMAGE }}${{ matrix.env.NAME && ' • ' || ''}}${{ matrix.env.NAME }}${{ matrix.env.CLANG_TIDY && ' • clang-tidy' || '' }} (map[IMAGE:rolling-source NAME:ccov TARGET_CMAKE_ARGS:-DCMAKE_BUILD_TYPE=Debug -DCMAKE_CXX_FLAGS="--coverage"]) (push) Has been cancelled
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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
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... 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
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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 )
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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
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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 )
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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 )
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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 )
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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 )
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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 )
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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 )
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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
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... if start and end are given as joint-space poses
2024-06-29 18:02:05 +02:00
Robert Haschke
177e19de1f
Generalize utils::getRobotTipForFrame()
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... 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 )
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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 )
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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 )
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* 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 )
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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
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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
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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