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Restructure hybrid_planning package (moveit#426)
* Add forward_trajectory local solver plugin (moveit#359) * Use ros2_control based joint simulation and remove unnecessary comment * Update copyrights * Restructure hybrid planning package * Fix formatting and add missing time stamp in local solver plugin * Remove unnecessary logging and param loading * Enable different interfaces between local planner and controller * Use JointGroupPositionController as demo hardware controller
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Original file line number | Diff line number | Diff line change |
---|---|---|
@@ -0,0 +1,7 @@ | ||
<library path="forward_trajectory_plugin"> | ||
<class name="moveit_hybrid_planning/ForwardTrajectory" type="moveit_hybrid_planning::ForwardTrajectory" base_class_type="moveit_hybrid_planning::LocalConstraintSolverInterface"> | ||
<description> | ||
Simple trajectory operator plugin that appends new global trajectories to the local planner's reference trajectory and extracts the next trajectory point based on the current robot state and an index. | ||
</description> | ||
</class> | ||
</library> |
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13 changes: 2 additions & 11 deletions
13
moveit_ros/hybrid_planning/hybrid_planning_manager/CMakeLists.txt
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Original file line number | Diff line number | Diff line change |
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@@ -1,11 +1,2 @@ | ||
# Trajectory operator interface | ||
add_library(planner_logic_interface SHARED | ||
src/planner_logic_interface.cpp | ||
) | ||
set_target_properties(planner_logic_interface PROPERTIES VERSION "${${PROJECT_NAME}_VERSION}") | ||
ament_target_dependencies(planner_logic_interface ${THIS_PACKAGE_INCLUDE_DEPENDS}) | ||
|
||
# Hybrid planning manager component | ||
add_library(moveit_hybrid_planning_manager SHARED src/hybrid_planning_manager.cpp) | ||
set_target_properties(moveit_hybrid_planning_manager PROPERTIES VERSION "${${PROJECT_NAME}_VERSION}") | ||
ament_target_dependencies(moveit_hybrid_planning_manager ${THIS_PACKAGE_INCLUDE_DEPENDS}) | ||
add_subdirectory(hybrid_planning_manager_component) | ||
add_subdirectory(planner_logic_plugins) |
11 changes: 11 additions & 0 deletions
11
.../hybrid_planning/hybrid_planning_manager/hybrid_planning_manager_component/CMakeLists.txt
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Original file line number | Diff line number | Diff line change |
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# Trajectory operator interface | ||
add_library(planner_logic_interface SHARED | ||
src/planner_logic_interface.cpp | ||
) | ||
set_target_properties(planner_logic_interface PROPERTIES VERSION "${${PROJECT_NAME}_VERSION}") | ||
ament_target_dependencies(planner_logic_interface ${THIS_PACKAGE_INCLUDE_DEPENDS}) | ||
|
||
# Hybrid planning manager component | ||
add_library(moveit_hybrid_planning_manager SHARED src/hybrid_planning_manager.cpp) | ||
set_target_properties(moveit_hybrid_planning_manager PROPERTIES VERSION "${${PROJECT_NAME}_VERSION}") | ||
ament_target_dependencies(moveit_hybrid_planning_manager ${THIS_PACKAGE_INCLUDE_DEPENDS}) |
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Original file line number | Diff line number | Diff line change |
---|---|---|
@@ -1,20 +1,3 @@ | ||
# Local_planner_component | ||
add_library(moveit_local_planner_component SHARED | ||
src/local_planner_component.cpp | ||
) | ||
set_target_properties(moveit_local_planner_component PROPERTIES VERSION "${${PROJECT_NAME}_VERSION}") | ||
ament_target_dependencies(moveit_local_planner_component ${THIS_PACKAGE_INCLUDE_DEPENDS}) | ||
|
||
# Trajectory operator interface | ||
add_library(trajectory_operator_interface SHARED | ||
src/trajectory_operator_interface.cpp | ||
) | ||
set_target_properties(trajectory_operator_interface PROPERTIES VERSION "${${PROJECT_NAME}_VERSION}") | ||
ament_target_dependencies(trajectory_operator_interface ${THIS_PACKAGE_INCLUDE_DEPENDS}) | ||
|
||
# Constraint solver interface | ||
add_library(local_constraint_solver_interface SHARED | ||
src/local_constraint_solver_interface.cpp | ||
) | ||
set_target_properties(local_constraint_solver_interface PROPERTIES VERSION "${${PROJECT_NAME}_VERSION}") | ||
ament_target_dependencies(local_constraint_solver_interface ${THIS_PACKAGE_INCLUDE_DEPENDS}) | ||
add_subdirectory(local_planner_component) | ||
add_subdirectory(trajectory_operator_plugins) | ||
add_subdirectory(local_constraint_solver_plugins) |
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