Commit Graph

83 Commits

Author SHA1 Message Date
Sebastian Jahr
0e02fcae77 Enable parallel planning with PipelinePlanner (#450)
* Refactor pipeline planner

Make code readable

Re-order plan functions

Make usable with parallel planning

Enable configuring multiple pipelines

Add callbacks

Cleanup and documentation

Add API to set parallel planning callbacks and deprecate functions

Pass pipeline map by reference

Small clang-tidy fix

Update core/src/solvers/pipeline_planner.cpp

Co-authored-by: Sebastian Castro <4603398+sea-bass@users.noreply.github.com>

Update core/src/solvers/pipeline_planner.cpp

Format

Refactor to avoid calling .at(0) twice

Use no default stopping criteria

Update fallbacks_move demo

* Cleanup + address deprecation warnings

* Enabling optionally using a property defined pipeline planner map

* Address review

* Disable humble CI for ros2 branch

* Add pipeline planner unittests + some checks

* Add short comment
2024-03-06 15:59:09 +01:00
Robert Haschke
349e3c6c6c Merge branch master into ros2 2023-05-26 16:38:15 +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
4781ed5636 ros1-0.1.3 2023-03-06 16:37:54 +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
d07aece163 ros1-0.1.2 2023-02-24 00:02:47 +01:00
Robert Haschke
db6d90ab69 CartesianPath: Deprecate redundant property setters 2023-02-17 22:37:49 +01:00
Robert Haschke
eae0bdc27f ros1-0.1.1 2023-02-15 23:20:32 +01:00
Robert Haschke
7926f69e97 Provide ComputeIK.ik_frame as full PoseStamped
Released MoveIt doesn't (yet) provide a conversion from string to PoseStamped.
2023-02-15 17:05:25 +01:00
Robert Haschke
885ac49ffb Use MoveIt's roscpp_initialize 2023-02-15 17:05:25 +01:00
Robert Haschke
d95a2fc787 Use MoveIt's libmoveit_python_tools.so
Drop our own version of that lib and thus resolve a deploy conflict.
2023-02-15 14:30:14 +01:00
Robert Haschke
ca5716a5c3 CI: Add prerelease workflow
Add missing test dependency
2023-02-13 15:49:39 +01:00
Robert Haschke
3b05949be9 pick_place_task: monitor last state before Connect
... to prune solutions as much as possible
2023-02-13 15:08:30 +01:00
Robert Haschke
4b5de15e1b Remove unused eigen_conversions includes 2023-02-11 13:47:35 +01:00
Robert Haschke
2843459b34 Fix buildfarm errors
- Add missing package dependencies
- Add author tags to package.xml
2023-02-03 12:24:48 +01:00
Robert Haschke
293898690e Merge branch 'master' into ros2 2023-02-02 10:32:21 +01:00
Robert Haschke
49b3bd0d56 ros1-0.1.0 2023-02-02 10:02:45 +01:00
Robert Haschke
b54f53eb98 Rely on CXXFLAGS definition from moveit_common package 2023-01-05 16:54:46 +01:00
Robert Haschke
b3d20cdcec Merge branch 'master' into ros2 2023-01-05 16:54:41 +01:00
Jafar
615e8ef248
Replace rosparam_shortcuts with generate_parameter_library (#403) 2022-12-06 00:14:50 +03:00
Robert Haschke
954089eae4 Merge PR #99: Python API
... based on pybind11
2022-11-22 21:24:17 +01:00
Robert Haschke
9924dfe25f Merge branch master into ros2 2022-11-02 19:16:38 +01:00
Robert Haschke
f28b6c4ea0 Fix cmake indentation 2022-11-02 00:07:57 +01:00
v4hn
2b2689e8d7 Use catkin_INCLUDE_DIRS as system includes
... to suppress warnings outside the code base
2022-10-24 10:07:38 +02:00
Robert Haschke
28fb974adb Remove MoveIt compatibility code 2022-10-23 22:16:58 +02:00
v4hn
6df359ed3b Do not dictate C++ standard
C++14 is default in clang/gcc anyway and latest log4cxx requires C++17.
Qt on Ubuntu 18.04 sets C++11. Hence we use MoveIt's cmake macro to ensure C++14 at least.
2022-10-23 22:15:23 +02:00
Robert Haschke
268fee9ac1 fixup! demo: add example cartesian.py 2022-08-28 11:17:23 +02:00
JafarAbdi
d6284ea63c Remove macros to check supported features 2022-05-26 21:58:48 +00:00
JafarAbdi
11b81856d5 Merge d2918f130d 2022-05-26 21:58:24 +00:00
Jafar
0128cd9250
Use moveit_configs_utils for launch files (#365) 2022-05-26 19:29:08 +03:00
Stephanie Eng
d1fb6ace93
Fix parameter in ik_clearance_cost demo (#366) 2022-05-25 18:12:59 +03:00
AndyZe
36459e3869 Alphabetize package.xml's and CMakeLists 2022-05-09 08:06:15 -05:00
Christian Petersmeier
e57d198dd7 Use verbose delimiters for source code instead of line numbers 2022-03-10 13:46:01 +01:00
Christian Petersmeier
d45f9faf63 Add example script: properties 2022-03-10 13:33:10 +01:00
Robert Haschke
95f24747b0 Pick+Place: Correctly configure forwarding of "pregrasp" property
... from Grasp to UnGrasp stage
2022-03-03 10:50:30 +01:00
Robert Haschke
d90b566b08 GeneratePlacePose: Remove property "ik_frame" from stage
- Instead, set ik_frame property on solution from passed object (frame).
- Allow subframes to be used as "object" frames
2022-03-03 10:50:30 +01:00
Robert Haschke
0dffefd6ae Cleanup pickplace.py 2022-03-03 10:50:30 +01:00
Robert Haschke
d408d73018 Fix ComputeIK demo 2022-03-03 10:50:30 +01:00
Robert Haschke
d732bfe3eb Fix demo/scripts/fixed_state.py 2022-01-07 16:20:42 +01:00
cpetersmeier
0fbdfbc818 mwe examples for core classes 2022-01-07 16:20:42 +01:00
cpetersmeier
31577c10c0 add further examples for basic stages
- create more granular mwe examples as reference material
      in the documentation
2022-01-07 16:20:42 +01:00
cpetersmeier
923022c13b stages docs and bindings
- pybind bindings for all the examples
    - correctly format docstrings
2022-01-07 16:20:42 +01:00
cpetersmeier
d6f1b69474 add demo pickplace example script 2022-01-07 16:20:42 +01:00
Robert Haschke
86093be94a Merge branch 'master' into wip-python-api 2022-01-07 16:20:00 +01:00
Robert Haschke
c7b2067b86 Merge PR #309: Fix Pruning 2022-01-05 20:19:51 +01:00
Jafar Abdi
7dbe0b87e1
Return MoveItErrorCode from task::plan (#319)
... to know whether the plan failed due to timeout, preemption, or actual planning failure
2022-01-02 15:32:37 +01:00
JafarAbdi
a90eac5a78 Port demo to ROS2 2021-11-25 23:02:54 +03:00
v4hn
b6ac5b09ba add demo illustrating useful fallbacks behavior 2021-11-15 09:29:09 +01:00
Robert Haschke
71fab0fbce Simplify allowCollisions(object, JMG) 2021-11-10 12:11:39 +01:00
Robert Haschke
aa54de0447
Gracefully handle execution_type (#307)
In moveit_resources 0.8.1 the arg execution_type was renamed to fake_execution_type.
To support both, Melodic and Noetic versions of moveit_resources, provide both name variants.
Additionally, disable  roslaunch's checking via pass_all_args="true".
2021-11-10 10:00:13 +01:00