[MSA] Merge Upstream into feature/msa
#1119
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* waitForAction(): remove NodeHandle argument * The NodeHandle was just for NodeHandle::ok(), which can be handled by ros::ok() as well. * Fix initialization of params, etc. that depend on MoveGroupNS * When the MoveGroupNS has changed, we should re-initialize all these params, subscribers, and topics. Thus having them in a central place is helpful ;-) * Fix namespaces as pointed out by @v4hn * Simplify nh_ naming * update comments
"attach_posture" is plain wrong. I don't see why clang-tidy did not find this before.
to resolve links for attached objects as well
Merge branch 'pr-master-state-rigidly-attached-parent'
…gs (moveit#2928) While we need to pass execution_type to fake_moveit_controller_manager.launch, the controller_manager.launch files of real-robot shouldn't be required to define this argument. However, if they don't roslaunch fails with an `unused args` exception (see moveit#2786). Passing arguments via pass_all_args should solve that issue.
* Switch CCOV to build type Debug RelWithDebInfo was using -DNDEBUG, thus ignoring all assertions. Also use -fno-omit-frame-pointer to have better coverage analysis. * Use lcov-action to generate coverage info * Unify syntax of `if` conditions
* fix enforce position bug * remove unnecessary variable * make clang tidy happy * Update my comment * implement same logic as in the moveit2! repo * fix copy-pase error Co-authored-by: Michael Wiznitzer <michael.wiznitzer@resquared.com> Co-authored-by: AndyZe <andyz@utexas.edu>
- Downgrade ERROR to WARN - Report affected joint name - Quote (possibly empty) planner id
When planning an arm motion, Pilz's PTP planner shouldn't complain (and bail out) on missing joint limits of hand joints!
Just complain about negative / zero values.
Otherwise, on a failure, the implicitly used success() will skip the step.
Gazebo requires a fixed joint from world to the first robot link. This resembles the virtual_joint of SRDF. However, the RobotModel parser issues the following warning: Skipping virtual joint 'xxx' because its child frame 'xxx' does not match the URDF frame 'world'
Fixes the following error (occurring since 61d18f2) ``` [FATAL] ros.moveit_ros_planning.trajectory_execution_manager: Exception while loading controller manager 'robot': According to the loaded plugin descriptions the class robot with base class type moveit_controller_manager::MoveItControllerManager does not exist. ``` As we introduced `pass_all_args="true"`, the value of the argument `moveit_controller_manager` was the robot name.
There are 3 basic MoveIt controller manager plugins: - fake = `moveit_fake_controller_manager::MoveItFakeControllerManager` Used in demo.launch. Doesn't really control the robot, but just interpolates between via points. Allows these execution_types: - via points: just jumps to the via points - interpolate: linearly interpolates between via points (default) - last point: jumps to the final trajectory point (used for fast execution testing) - ros_control = `moveit_ros_control_interface::MoveItControllerManager` Interfaces to ros_control controllers. - simple = `moveit_simple_controller_manager/MoveItSimpleControllerManager` Interfaces to action servers for `FollowJointTrajectory` and/or `GripperCommand` that in turn interface to the low-level robot controllers (typically based on ros_control) However, so far move_group.launch distinguished between `fake` and `robot` only. The argument moveit_controller_manager now allows switching between all 3 variants. Adding more *_moveit_controller_manager.launch files allows for an extension of this scheme.
- Reading both, the default and the existing package's sensors_3d.yaml
into the config, the config file was growing by 2 configs each time.
- Not visiting the Perception tab, was writing the default config with 2 entries
- Selecting "None" was writing an invalid config:
sensors:
- {}
- {}
We should write separate controller config files for different controller managers: - simple_moveit_controllers.yaml handles everything relevant for SimpleMoveItControllerManager - ros_controllers.yaml handles ros_control config - gazebo_controllers.yaml handles controllers required for Gazebo
Get parameter `trajectory_execution.execution_duration_monitoring` in initialize(). Co-authored-by: Gaël Écorchard <gael.ecorchard@cvut.cz>
* Use a map of expected feedback codes * Use a constexpr function instead of unordered_map * Don't need this #include * Minor function renaming
Co-authored-by: Jean-Christophe Ruel <jeanchristophe.ruel@elmec.ca>
* Create a copy of the planning scene. const robot state. * Use LockedPlanningSceneRO over lockSceneRead() * Use lambda function
* Use jammy dockers and clang-format-12 * Fix unused depend, and move to python3-lxml * add ompl to repos, fix versions and ogre * Remove ogre keys * Fix boolean node operator * Stop building dockers on branch and fix servo null pointer * update pre-commit to clang-format-12 and pre-commit fixes * clang-format workaround and more pre-commit fixes
* Add galactic CI * Comment out rolling * panda_ros_controllers -> panda_ros2_controllers * Ignore flake8 tests
…oveit#1100) * No lock in planning_component.cpp * Make lockSceneRead(), lockSceneWrite() protected * Add a migration note
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Codecov Report
@@ Coverage Diff @@
## feature/msa #1119 +/- ##
===============================================
+ Coverage 57.86% 61.02% +3.16%
===============================================
Files 307 275 -32
Lines 25918 23761 -2157
===============================================
- Hits 14996 14498 -498
+ Misses 10922 9263 -1659
Continue to review full report at Codecov.
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vatanaksoytezer
approved these changes
Mar 14, 2022
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lgtm |
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Hopefully this fixes CI?
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