[jog arm] Sync latest jogger changes #221
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* Porting PR moveit#1244 to Melodic. * Allow for joints in the msg that are not part of the MoveGroup. * Switching to the Panda robot model for tests. * Blacklist the test as I can't get it to pass Travis (fine locally). * Throttling all warnings. Fix build warning re. unit vs int comparison. * Continue to publish commands even if stationary * Scale for 'unitless' commands is not tied to publish_period. * New function name for checkIfJointsWithinBounds() * Configure the number of msgs to publish when stationary. * Run jog_calcs at the same rate as the publishing thread. * Better comments in config file, add spacenav_node dependency * Add spacenav_node to CMakeLists.
* rename .test launch file and re-enable jog-arm integration test * fix array out-of-bounds access drop hard-coded plain c array and directly add Eigen vectors without loop * start from non-singular robot state
* Make jog_arm an own package located in the moveit_experimental folder. * adapt package location * minor cleanup
* Reduce console output warnings * jog_arm: cleanup PSM setup * clang-format * fix cut-and-paste error Co-authored-by: Robert Haschke <rhaschke@users.noreply.github.com>
* separate proximity threshold values for self-collisions and scene collisions * increase default value of scene collision proximity threshold * deprecate old parameters
* adds empty point msg to prevent invalid indexing * do not add effort it's not used internally and should be consistent. Co-authored-by: Michael Görner <me@v4hn.de>
* added throttle to jogarm accel limit warning * switched to ERROR_ONCE
fixup! simplify communication between threads in jog arm
…essaging to main timer
…pp_interface_example.cpp Co-authored-by: Robert Haschke <rhaschke@users.noreply.github.com>
…pp_interface_example.cpp Co-authored-by: Robert Haschke <rhaschke@users.noreply.github.com>
….cpp Co-authored-by: Henning Kayser <henningkayser@picknik.ai>
* [jog_arm] fix access past end of array bug
* throttle warning logs * ROS1 Basic improvements and changes * Fixes to drift dimensions, singularity velocity scaling * tf name changes, const fixes, slight logic changes * Reverting enforceSRDFAccelVelLimits changes for now * Move ROS_LOG_THROTTLE_PERIOD to cpp files * Clang formatting * Track staleness of joint and twist seperately * Ensure joint_trajectory output is always populated with something, even when no jog * Fix joint trajectory redundant points for gazebo pub * Fix crazy joint jog from bad Eigen init * Fix variable type in addJointIncrements() * Initialize last sent command in constructor * More explicit joint_jog_cmd_ and twist_stamped_cmd_ names * Add comment clarying transform calculation / use Co-authored-by: Tyler Weaver <tyler@picknik.ai> Co-authored-by: AndyZe <andyz@utexas.edu>
6 tasks
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@AdamPettinger Thanks for preparing this. When syncing forks/releases we usually don't rebase the commits since that will also detach the history from MoveIt 1. Since it was about time to do another full sync soon anyway, I decided to just run this now (see #222). All required JogArm changes should be provided there. |
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Awesome @henningkayser thanks! |
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Description
Using
git filter-repo, I grabbed the newest changes tomoveit_jog_armin ROS 1 through moveit/moveit#2151 and rebased it onto master here.I will use this as the base point for further changes in ROS 2 (#206), including the currently open PR to move and rename the jogger #203
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