Commit Graph

1423 Commits

Author SHA1 Message Date
Robert Haschke
275c15422d Adaptions for https://github.com/ros-planning/moveit/pull/3534
make_box() is a public method now
2024-02-15 22:20:34 +01:00
Robert Haschke
e163f57f9c Cleanup debug output 2024-02-15 21:42:18 +01:00
Robert Haschke
9dfd6bd2eb Fix duplicate solutions
When adding pending state pairs for a new incoming state to Connect,
we have to re-enable opposite states from ARMED state.
This changes the order of states in the interface.
If we do this while iterating over the states, we might add pairs multiple times,
because iteration continues with same state at an earlier position.
2024-02-15 21:42:18 +01:00
Robert Haschke
bf2714b42d printPendingPairs(os) -> os<<pendingPairsPrinter() 2023-10-25 22:21:36 +02:00
Robert Haschke
13264ba21d Fix leaking of failures into enumerated solutions 2023-10-25 22:21:36 +02:00
Robert Haschke
7b965863e3 Add more debugging output
- Add Stage::introspection() accessor
- Introspection: debug-log solution registration
- RemoteSolutionModel: show internal solution id as tooltip in 1st column
2023-10-25 22:19:49 +02:00
Robert Haschke
08b102d5b0 Unit tests for #485 2023-10-20 09:23:32 +02:00
Robert Haschke
605a1e5419 DelayingWrapper stage to delay solution shipping in unit tests 2023-10-20 09:23:32 +02:00
Robert Haschke
0fd989cb27 Simplify tests 2023-10-13 00:25:39 +02:00
Michael Görner
a90557279c
Hide button to show rviz-based task construction (#492) 2023-10-11 14:52:28 +02:00
Michael Görner
dcde89d4d5
Skip Fallbacks::replaceImpl() when already correctly initialized (#494)
Do not reinitialize a Fallbacks' pimpl if it already serves the desired interface.
2023-10-11 14:45:24 +02:00
Michael Görner
ab4bb40dfd
Fix demos (#493)
* improve demo rviz config
  - orbit view centered at workspace instead of 2d orbit
  - REALTIME trajectory display
* FixedState: setter for ignore_collisions property
* Fix clearance_cost demo
  - verify default state
  - use model frame over virtual "world" which is not known in fresh PlanningScene
  - ignore initial collisions with the IK seed
* improve documentation in Fallbacks demo
2023-10-11 14:30:54 +02:00
Henning Kayser
64fd3df563
README: Add branch description (#488) 2023-10-03 17:28:27 +02:00
Robert Haschke
f847d765ce Fix Qt 5.15 deprecation warnings 2023-09-18 10:51:25 +02:00
Robert Haschke
647f3ec413 Limit time to wait for execute_task_solution action server 2023-09-18 10:35:23 +02:00
Robert Haschke
c605a0059a Replace namespace robot_[model|state] with moveit::core 2023-05-26 01:18:17 +02:00
Robert Haschke
6f7282423d MPS: fixup processCollisionObject
- Declare CollisionObject argument as constant:
  Internally the argument is temporarily modified, but for a caller it is effectively const.
- Correctly restore the old operation mode
- Fixup check in unit test
2023-05-26 01:15:50 +02:00
Robert Haschke
3ec69fb59d
Merge PR #460: improvements to ModifyPlanningScene stage 2023-05-25 22:29:31 +02:00
Robert Haschke
2728b3c94c Remove downstream package mtc_pour
... as fillMessage() was renamed to toMsg()
2023-05-25 22:07:35 +02:00
Robert Haschke
5382338933 Disable MPS tests, failing due to #432 2023-05-25 21:52:07 +02:00
Robert Haschke
78da3e46e6
Gracefully handle NULL robot_trajectory (#469) 2023-05-25 17:49:23 +02:00
Robert Haschke
76d293863b
introspection: remove any invalid ROS-name chars from hostname (#465) 2023-05-19 08:48:28 +02:00
Robert Haschke
397fc070ea Fix SolutionBase::fillMessage(): also write start_scene
This method was only doing half of the job, namely adding subsolutions
to the message fields. However, the start_scene was not yet written.
This was handled manually in some but not all callers.
To avoid this inconsistency, the new method toMsg() takes care of both
actions now, while the old fillMessage() method was renamed to appendTo().
2023-05-19 08:43:14 +02:00
Robert Haschke
bd400de184 Fix add/remove object in backward operation
- addObject() will actually remove the object from scene
- removeObject() is not supported (we would need to know which object to add)
2023-05-19 08:43:12 +02:00
Robert Haschke
1daef934ee Add python binding for ModifyPlanningScene::removeObject 2023-05-19 08:43:12 +02:00
Robert Haschke
6a01550e8d ComputeIK: update RobotState before calling setFromIK()
This became necessary due to https://github.com/ros-planning/moveit/issues/3388.
2023-05-17 21:01:57 +02:00
Michael Görner
4d2a5714fa
Use pluginlib consistently (#463) 2023-05-17 19:55:18 +02:00
VideoSystemsTech
dee73b2dde
Expose argument of PipelinePlanner's constructor to Python (#462) 2023-05-16 14:32:17 +02:00
Robert Haschke
d59acdb969 Fix allowCollisions(object, enable_collision)
Call ACM::setDefaultEntry to also cover objects that are not yet known to the ACM.
2023-05-16 09:43:00 +02:00
Robert Haschke
45ca1a67a9 TestModifyPlanningScene 2023-05-16 09:42:25 +02:00
Robert Haschke
b318c3cae9 Basic Move test: MoveRelative + MoveTo 2023-05-05 00:21:11 +02:00
Robert Haschke
84cb880a9d Add python binding for ModifyPlanningScene::allowCollisions(std::string, bool) 2023-05-05 00:21:11 +02:00
Robert Haschke
1002d84946 Add python binding for Task::insert 2023-05-04 23:22:49 +02:00
Robert Haschke
d1a6916206
Stage::explainFailure() (#445)
... to facilitate spotting the stage causing a task to fail
2023-05-04 17:07:11 +02:00
Robert Haschke
ede7cb71cc
Improve documentation (#431)
* Improve general description of stage and container types
* Clarify purpose of `CurrentState` stage
* Add troubleshooting section
2023-05-04 17:02:00 +02:00
Robert Haschke
7f10292ab3
JointInterpolationPlanner: pass optional max_effort property along to GripperCommand (#458)
MoveIt passes the effort field of the last trajectory point as the max_effort for a GripperCommand.
Thus we pass the max_effort property to the effort field of the trajectory's last waypoint.
2023-05-04 15:29:53 +02:00
Robert Haschke
b346e7eb78
Task: findChild() and operator[] should directly operate on stages() (#435)
Considering the (fixed) name of the top-level container is meaningless.
2023-05-04 15:23:23 +02:00
Robert Haschke
f07b81fcd0 cleanup 2023-05-04 14:26:34 +02:00
Robert Haschke
4781ed5636 ros1-0.1.3 2023-03-06 16:37:54 +01:00
Robert Haschke
c57a0bcc12 Fixup: Remove moveit/__init__.py during .deb build
Fix install path recognition (6671aedeb7). Debian install process targets:
/tmp/binarydeb/ros-noetic-moveit-task-constructor-core-<version>/debian/ros-noetic-moveit-task-constructor-core/opt/ros/noetic/lib/python3/dist-packages/moveit
2023-03-06 16:31:59 +01:00
Robert Haschke
75e4260e2a
MoveRelative: Allow backwards operation for joint-space delta (#436) 2023-03-06 16:27:09 +01:00
Robert Haschke
08dc34c5b3
Use const reference instead of reference for ros::NodeHandle (#437) 2023-03-06 16:26:41 +01:00
Robert Haschke
61bb2fdc58
ComputeIK: Limit collision checking to JMG (#428)
That's what MoveIt is doing as well.
2023-02-28 13:18:53 +01:00
Robert Haschke
a3cb8c6584 Fix: Fetch pybind11 submodule if not yet present
cmake's execute_process pipes COMMANDs together.
Thus, `git submodule update` received the output of `git submodule init` as input
and didn't do anything.
2023-02-28 11:15:05 +01:00
Robert Haschke
ca1c7c7e24 Fix typo 2023-02-28 11:13:24 +01:00
Robert Haschke
d07aece163 ros1-0.1.2 2023-02-24 00:02:47 +01:00
Robert Haschke
6671aedeb7 Remove moveit/__init__.py during .deb builds 2023-02-23 23:55:38 +01:00
Robert Haschke
4a320f309c
Merge PR #429: MultiPlanner
MultiPlanner
2023-02-23 20:44:28 +01:00
Robert Haschke
ea776e35f6
Fix marker creation: allow zero scale for geometric shapes (#430)
Boxes, spheres, and cylinders might explicitly have a zero size. Don't reset their scaling to (1,1,1)
2023-02-23 20:42:23 +01:00
Robert Haschke
db6d90ab69 CartesianPath: Deprecate redundant property setters 2023-02-17 22:37:49 +01:00