v4hn
e5fc8b62b4
MoveRelative: possibly update last waypoint before transform lookup
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Apparently this RobotState is not necessarily updated,
this broke some pipeline testing over here.
2018-10-25 00:12:46 +02:00
v4hn
38cc4c6936
add comment to subtrajectory
2018-10-25 00:12:46 +02:00
v4hn
80adcb9e24
add comments to wrapped solutions
2018-10-24 11:53:14 +02:00
v4hn
73b35ef2bf
do not send failures to parent
...
It is enough for us to investigate these locally
2018-10-24 11:47:42 +02:00
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
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
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This is important to differentiate between different Connect stages.
2018-10-22 17:28:52 +02:00
v4hn
13ad4d58f1
fixup! rename "goal" to "direction"
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"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
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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
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
b5b58ea0ca
Introspection::solutionFromId()
2018-10-20 23:33:54 +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
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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
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ExecuteTaskSolution capability
2018-10-20 23:25:48 +02:00
Robert Haschke
1e39da2388
fix stage "FixCollisionObjects"
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... 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
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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
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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
v4hn
1a4f6c0e57
keep RobotModelLoader around
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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
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
Robert Haschke
940543a063
fixup! allow preemption of Task::plan()
2018-10-16 23:14:58 +02:00
Robert Haschke
b5bc97b3eb
Task::execute()
2018-09-25 22:17:42 +02:00
Robert Haschke
7bd9bcf972
allow preemption of Task::plan()
2018-09-25 22:16:45 +02:00
Robert Haschke
e5e291d86f
FixCollisions stage
2018-09-25 22:16:45 +02:00
Robert Haschke
a7b74673ce
PlannerInterface for joint-space interpolation
2018-09-25 22:16:45 +02:00
Robert Haschke
4860462076
ComputeIK: forward child solution's comment
2018-09-25 16:25:22 +02:00
Robert Haschke
c70db65578
fixup! MoveTo: store goal as any type
2018-09-25 16:25:13 +02:00
Robert Haschke
ca9d50e7d8
fix compiler warnings
2018-09-25 13:30:53 +02:00
Robert Haschke
f2573e9bfd
fix include order
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Local headers should be preferred over those from underlay.
Consequently use target_include_directories() to properly define include order.
2018-09-25 13:30:53 +02:00
Robert Haschke
ff2474f262
pa10 doesn't need move_group
2018-06-03 12:36:12 +02:00
Robert Haschke
932ab5eba3
cast demos as integration unit tests
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- moved demos from demo to test folder
- run them as unittest, checking range of solutions
2018-06-03 12:36:01 +02:00
Robert Haschke
3215880b98
Merge branches 'move-to', 'simple-grasp' and 'properties' into master
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These branches only work together:
- MoveTo / MoveRelative: common handling of "goal" property
- properties: required changes to allow for multiple inheritance
- generalize SimpleGrasp / GenerateGraspPose
2018-06-03 11:38:50 +02:00
Robert Haschke
2e46082521
remove Container::exposePropertiesOfChild()
2018-06-03 11:36:50 +02:00
Robert Haschke
157caac385
generalize SimpleGrasp / GenerateGraspPose
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- move "pregrasp", "grasp" property from SimpleGrasp to GenerateGraspPose
- Container::exposePropertiesOfChild: decouple exposure from inheritance
2018-06-03 11:36:50 +02:00
Robert Haschke
544f574166
MoveRelative: store goal as any type
2018-06-03 09:22:06 +02:00
Robert Haschke
00260d62b5
MoveTo: store goal as any type
2018-06-03 09:22:06 +02:00
Robert Haschke
941dee7fc1
exposeTo: const method
2018-06-03 09:22:06 +02:00
Robert Haschke
abc4c5de50
PropertyMap: allow any type
2018-06-03 09:18:37 +02:00
Robert Haschke
a8431ce661
Container::exposePropertiesOfChild: allow skipping of undefined props
2018-06-03 06:46:12 +02:00
Robert Haschke
0dab499533
Stage: generally allow forwarding of interface properties
2018-06-03 06:46:12 +02:00
Robert Haschke
92296e020f
SimpleGrasp(GraspGenerator)
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allow any GraspGenerator stage that provides "pregrasp" and "grasp"
postures as well as a target_pose for grasping.
2018-06-03 06:46:12 +02:00
Robert Haschke
beffe27987
improve property debugging
2018-06-03 06:42:11 +02:00