Commit Graph

237 Commits

Author SHA1 Message Date
Robert Haschke
bd60e6f65d Task::setRobotModel() / Task::loadRobotModel() 2018-04-09 21:09:49 +02:00
Robert Haschke
70065c98e7 Merge branches 'master' 'generate-pose' and 'connect' 2018-04-09 21:08:45 +02:00
Robert Haschke
21242ea976 publish failures 2018-04-09 21:08:17 +02:00
Robert Haschke
047a3f7db4 report duplicate joints, accept fixed joints as duplicates 2018-04-09 21:08:17 +02:00
Robert Haschke
55e3aae30a merge trajectories 2018-04-09 21:08:17 +02:00
Robert Haschke
03092e7e45 utility functions to merge multiple RobotTrajectories 2018-04-08 02:36:55 +02:00
Robert Haschke
2c08d9080d Pick, Place as specializations of PickPlaceBase 2018-04-08 02:36:55 +02:00
Robert Haschke
ce5d7c63f0 SimpleGrasp, SimpleUnGrasp as specializations of SimpleGraspBase 2018-04-08 02:36:55 +02:00
Robert Haschke
97d2eb5c6a Pick: remove Connect 2018-04-08 02:36:55 +02:00
Robert Haschke
85e88eabd1 Connecting::compatible() to check compatibility of states 2018-04-08 02:36:55 +02:00
Robert Haschke
eee53a0d80 MoveTo: use moving frame markers 2018-04-05 22:54:51 +02:00
v4hn
1424b51f79 expose typed setters in Cartesian solver 2018-04-05 22:53:24 +02:00
Robert Haschke
77442c0eed Connect: allow multiple groups to be processed in series 2018-04-05 13:51:50 +02:00
Robert Haschke
8811045f89 setCreator() once in StagePrivate::newSolution() 2018-04-05 13:51:50 +02:00
Robert Haschke
9ceecd235f SerialSolution -> SolutionSequence 2018-04-05 13:51:50 +02:00
Robert Haschke
4d77390d77 validate existence of object frame in init() 2018-04-05 13:50:09 +02:00
Robert Haschke
9e1c3059e1 derive GenerateGraspPose from GeneratePose 2018-04-05 13:50:09 +02:00
Robert Haschke
3640928a76 postpone pose transformation 2018-04-05 13:50:09 +02:00
Robert Haschke
603696f294 add missing reset() 2018-04-05 13:50:09 +02:00
v4hn
76c6ba14fa add a simple GeneratePose stage
ComputeIK is a wrapper, so we can't just give it a pose to compute.
2018-04-05 13:50:09 +02:00
llach
a82a48bb70 fix PropertyMap::exposeTo: use other_name as new name for property (#40) 2018-04-05 13:47:23 +02:00
llach
124979e2a8 MoveRelative: adapt msgs to fit class name (#39) 2018-04-05 13:46:13 +02:00
Robert Haschke
205beea503
Merge pull request #28 from ros-planning/pr-path-constraints
implement path constraints
2018-03-26 09:54:02 +02:00
Robert Haschke
2ca68e6645 actually implement path constraints for CartesianPath planner
... validating constraints
2018-03-26 09:50:17 +02:00
v4hn
d7d80c3499 implement path constraints for Move* 2018-03-26 09:50:17 +02:00
v4hn
80ae01dcca expose timeout property as typed setter 2018-03-26 09:50:17 +02:00
v4hn
8af44cefc3 add path constraints to planner API
and use it in the Connect class.

The cartesian planner ignores the constraints for now.
2018-03-26 09:50:17 +02:00
Robert Haschke
f0dc02e2c3 ContainerBasePrivate::position() -> childByIndex() 2018-03-26 00:24:25 +02:00
Robert Haschke
84f5c481be ContainerBasePrivate::position(): generically handle shifting 2018-03-26 00:24:25 +02:00
Robert Haschke
ff0ee407ff remove tool_to_grasp_tf from SimpleGrasp 2018-03-25 06:07:53 +02:00
Robert Haschke
54e4d8eed7 remove tool_to_grasp_tf from GenerateGraspPose 2018-03-25 06:07:53 +02:00
Robert Haschke
12e134ad09 added disclaimer 2018-03-25 06:07:53 +02:00
Robert Haschke
893cb25b5b fix isTargetPoseColliding
- must not use new sandbox_scene (we want to display the place eef)
- jmg not needed anymore
2018-03-25 06:07:53 +02:00
Robert Haschke
c98f10478e frame marker at ik frame 2018-03-25 06:07:53 +02:00
Robert Haschke
5b6a02d105 rename reference frame -> ik frame 2018-03-25 06:07:53 +02:00
Robert Haschke
f497112513 consider reference_frame 2018-03-25 06:04:09 +02:00
Robert Haschke
7531b8ad54 allow arbitrary reference frame for target_pose and ik frame 2018-03-25 06:04:09 +02:00
Robert Haschke
4fcac84d76 remove tests that do not test anything 2018-03-25 06:04:09 +02:00
Robert Haschke
9e5e098339 unittests
- provide simple hard-coded robot model
- test ComputeIK::init()
2018-03-25 06:04:09 +02:00
Robert Haschke
f4adaa949a validate available properties during init() 2018-03-25 06:04:09 +02:00
Robert Haschke
5a55a5949b Merge branches 'bug-fixes', 'gui' and 'pick-stage' 2018-03-24 07:32:20 +01:00
Robert Haschke
a4fed6a18a MoveTo Cartesian: create marker frame at current and goal pose 2018-03-24 06:16:10 +01:00
Robert Haschke
cb38a87a73 CartesianPath: return a partial trajectory in case of failure 2018-03-24 06:16:10 +01:00
Robert Haschke
81d88911a9 cosmetic fixes 2018-03-23 17:18:56 +01:00
Robert Haschke
2331c9aef2 pick: expose IK link frame as eef_frame 2018-03-23 17:18:56 +01:00
Robert Haschke
1c61fb3b85 expose solvers 2018-03-23 17:18:56 +01:00
llach
ea6cc4b6bf moved "attach object" from "pick" to "grasp" stage 2018-03-23 17:18:56 +01:00
Robert Haschke
ceaf896bf8 position scene node w.r.t. fixed frame 2018-03-23 11:22:23 +01:00
Robert Haschke
c2590636b1 fixup! SerialContainer: don't consider failures for solutions 2018-03-23 11:22:23 +01:00
Robert Haschke
862ac37cd6 fix ContainerBasePrivate::copyState(): don't copy (again) on update 2018-03-23 11:22:23 +01:00
Robert Haschke
b3af170663 reset num_failures_ 2018-03-23 11:22:23 +01:00
Robert Haschke
6b912c3531 MoveTo Cartesian Point: bug fix 2018-03-23 11:22:23 +01:00
Robert Haschke
6d859840c3 fix interface detection for nested SerialContainers 2018-03-23 09:18:21 +01:00
Robert Haschke
159beeb044 fix SerialContainer::canCompute() 2018-03-23 09:18:21 +01:00
Robert Haschke
bff6cc569c pick: reusable stage for picking up an object 2018-02-25 23:14:52 +01:00
Robert Haschke
d731e943f1 Merge branch 'parallel-container' 2018-02-25 23:12:35 +01:00
Robert Haschke
9545f92678 GenerateGraspPose::reset() 2018-02-25 23:11:55 +01:00
Robert Haschke
12582f6bbc SerialContainer: don't consider failures for solutions 2018-02-25 20:01:43 +01:00
Robert Haschke
99adfaf454 fix ParallelContainers' init() 2018-02-25 13:22:26 +01:00
Robert Haschke
dcf23f6147 relax ParallelContainer's validateConnectivity() 2018-02-25 13:22:26 +01:00
Robert Haschke
bcacda8507 implement ParallelContainer's pruneInterface() 2018-02-25 13:22:26 +01:00
eirtech
0dc4f5c53e ParallelContainer's requiredInterface() 2018-02-25 13:22:26 +01:00
eirtech
3e4aa19246 ParallelContainer: unittests 2018-02-25 13:22:14 +01:00
Robert Haschke
a2fd5fb7b8 more constexpr InterfaceFlags 2018-02-25 11:59:51 +01:00
Robert Haschke
a24039846a Merge branches 'analyze-property-errors' and 'fixes' 2018-02-24 13:45:51 +01:00
Robert Haschke
94bb50ddc1 fixup! PropertyMap: different exception types 2018-02-24 13:42:18 +01:00
v4hn
30de5e1a8c add catch-rethrow for property initialization
The property doesn't know its own name, so we add it here
2018-02-24 13:42:18 +01:00
v4hn
78b86bb65f add convenience overloads for setting properties 2018-02-24 13:42:18 +01:00
Robert Haschke
e9d1742337 ContainerBase::exposePropertiesOfChild 2018-02-24 13:42:18 +01:00
Robert Haschke
8152614d33 properties: init from source if current value is not defined
- reset(): reset current value to empty, not default
- value(): return current value, or - if not defined - the default
- initialize from source if current value is undefined,
  don't care about default value
2018-02-24 13:42:18 +01:00
Robert Haschke
0c8c298450 declare by std::type_index (instead of std::type_info) 2018-02-24 13:42:18 +01:00
Robert Haschke
6444229877 Stage::reportPropertyError 2018-02-24 13:42:18 +01:00
Robert Haschke
da9cdb5cf6 PropertyMap: different exception types
undeclared
undefined
type_error
2018-02-24 13:42:18 +01:00
v4hn
7caed29cb1 elaborate runtime_error in InterfaceState 2018-02-24 13:42:12 +01:00
v4hn
9709fd687d ComputeIK: update state to avoid dirty transforms 2018-02-24 13:42:12 +01:00
v4hn
69d3d8bd37 InitStageException::what(): distinguish stage/stages 2018-02-24 13:42:12 +01:00
Robert Haschke
cc8bcd3fdc become agnostic to urdfdom's shared_ptr types 2018-02-24 13:42:12 +01:00
Robert Haschke
07e99461fc conditionally normalize angular 2018-02-24 13:42:12 +01:00
Robert Haschke
cf54024379 fix derivation of propagation direction from connect stage 2018-02-24 13:42:12 +01:00
Robert Haschke
aee2525382 fix ModifyPlanningScene: pass stage properties to callback 2018-02-24 13:42:12 +01:00
Robert Haschke
b767e359e9 GenerateGraspPose: require pregrasp pose 2018-02-24 13:42:12 +01:00
Robert Haschke
6a3456f961 unittest ContainerBasePrivate::position() 2018-02-24 13:42:12 +01:00
Robert Haschke
9cd6efe46f Stage::init(PlanningScene) -> Stage::init(RobotModel) 2018-02-24 13:37:50 +01:00
v4hn
2a2d406368 remove restriction to watch only generators 2018-02-24 13:37:50 +01:00
Robert Haschke
d035089c10 MonitoringGenerator 2018-02-24 13:37:50 +01:00
Robert Haschke
8624224d6b FixedState generator 2018-02-24 13:37:41 +01:00
llach
e1281130ac CurrentState: fetch scene via get_planning_scene service 2018-02-24 13:37:41 +01:00
v4hn
4f2b38f02d add missing headers 2018-02-21 14:56:51 +01:00
Robert Haschke
cf76352d2d Merge branches 'fix-containers' and 'fix-priority-updates' 2018-02-20 08:07:48 +01:00
Robert Haschke
ba75f7c835 fixed remaining unittest 2018-02-20 08:06:23 +01:00
Robert Haschke
e368fd9948 avoid accidental overwrite of InterfaceState 2018-02-19 09:05:56 +01:00
Robert Haschke
373d7f204f update priorities of all interface states along a (partial) solution path
if a parallel container is involved somewhere in the middle, it will
again access these states, e.g. planning alternative solutions
2018-02-19 09:05:56 +01:00
Robert Haschke
1eacea6b35 reset InterfaceState::owner_ if state is removed from Interface 2018-02-19 09:05:56 +01:00
Robert Haschke
35f1540369 recursive interface auto-detection
trigger auto-detection from top (task) level:
only there we now for sure the accepted interface
2018-02-19 01:05:56 +01:00
Robert Haschke
f45a4e3e2c improve validation
- postpone pruning / interface auto-detection to top task-level
  only the task state knows for sure, that it requires its wrapped child to push to both ends
- perform connectivity validation only after pruning
  only then, we the interfaces are completely determined
2018-02-19 01:05:56 +01:00
Robert Haschke
a523333ef6 basic auto-detection of interfaces for propagating stages
works if propagation direction can be derived from a generator or
connecting stage within the sequence

start-to-end propagation through whole serial container still fails
2018-02-18 21:23:12 +01:00
Robert Haschke
1a0b9b36ee fix connection creation
Establishing the interface connections, we face a chicken-egg-problem:
To establish a connection, a predecessors/successors pull interface is
assigned to the current's stage push interface.
However, propagating stages (in auto-detection mode) can only create
their pull interfaces if the corresponding, opposite-side push interface
is present already (because that's the mechanism to determine the supported
propagation directions).

Hence, we need to resolve this by performing two sweeps:
- initialization, assuming both propagation directions should be supported,
  thus generating both pull interfaces, i.e. providing the egg
- stripping down the interfaces to the actual context
  This context is provided by two stages pushing from both ends
  into a (potentially long) sequence of propagating stages (tbd).

Contributions of this PR:
- PropagatingEitherWay: explicitly distinguish AUTO from BOTHWAYS interface
  AUTO: auto-derive interface from provided push interfaces
  BOTHWAYS: explicitly require both directions
- SerialContainer: (better, but not yet perfect) validation of connectivity
- ParallelContainer: determine interface from what children offer
2018-02-18 21:23:12 +01:00
Robert Haschke
ec2b06292e extended unittest for serial connection validation 2018-02-18 14:03:57 +01:00
Robert Haschke
a4feb705d0 cleanup operator<<(ostream, *)
- basic implementation for StagePrivate
- implementation for Stage calls this
- implementation for ContainerBase recursively calls this
- implementation for Task added
2018-02-18 13:58:09 +01:00
Robert Haschke
1f4264c8c8 PropagatingEitherWayPrivate: count failures in both directions 2018-02-16 16:01:05 +01:00