Add global planner plugin interface #585
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@sjahr could you rebase this PR? |
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Codecov Report
@@ Coverage Diff @@
## feature/hybrid_planning #585 +/- ##
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Coverage 54.11% 54.11%
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Files 190 190
Lines 20037 20037
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Hits 10842 10842
Misses 9195 9195 Continue to review full report at Codecov.
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henningkayser
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Sep 9, 2021
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galactic fails because of ros2_control |
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…eit#585) Fix hybrid planning include folders (moveit#675) Order stuff in the CMakeLists.txt and remove control_box package Update README Move member initialization to initializer lists Remove control_box include dependency Replace "loop-run" with "iteration" Remove cpp interface class constructors and destructors Use joint_state_broadcaster, clean up test node, add execution dependencies Use only plugin interface header files and add missing dependencies Clean up constructor and destructor definitions Declare missing parameter in moveit_planning_pipeline_plugin Move rclcpp::Loggers into anonymous namespaces Switch CI branches to feature/hybrid_planning Update message name Remove moveit_msgs from .repos file Update github workflows Remove note from readme about building from source Minor renamings, make reset() noexcept Check for vector length of zero Load moveit_cpp options with the Options helper. Reduces LOC. Set the planning parameters within plan() Function renaming Authors and descriptions in header files only. New header file for error code interface. Update namespacing Use default QoS for subscribers Better progress comparison Add publish_joint_positions and publish_joint_velocities param Grammar and other minor nitpicks Restore moveit_msgs to .repos, for now
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…eit#585) Fix hybrid planning include folders (moveit#675) Order stuff in the CMakeLists.txt and remove control_box package Update README Move member initialization to initializer lists Remove control_box include dependency Replace "loop-run" with "iteration" Remove cpp interface class constructors and destructors Use joint_state_broadcaster, clean up test node, add execution dependencies Use only plugin interface header files and add missing dependencies Clean up constructor and destructor definitions Declare missing parameter in moveit_planning_pipeline_plugin Move rclcpp::Loggers into anonymous namespaces Switch CI branches to feature/hybrid_planning Update message name Remove moveit_msgs from .repos file Update github workflows Remove note from readme about building from source Minor renamings, make reset() noexcept Check for vector length of zero Load moveit_cpp options with the Options helper. Reduces LOC. Set the planning parameters within plan() Function renaming Authors and descriptions in header files only. New header file for error code interface. Update namespacing Use default QoS for subscribers Better progress comparison Add publish_joint_positions and publish_joint_velocities param Grammar and other minor nitpicks Restore moveit_msgs to .repos, for now
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Nov 30, 2021
…eit#585) Fix hybrid planning include folders (moveit#675) Order stuff in the CMakeLists.txt and remove control_box package Update README Move member initialization to initializer lists Remove control_box include dependency Replace "loop-run" with "iteration" Remove cpp interface class constructors and destructors Use joint_state_broadcaster, clean up test node, add execution dependencies Use only plugin interface header files and add missing dependencies Clean up constructor and destructor definitions Declare missing parameter in moveit_planning_pipeline_plugin Move rclcpp::Loggers into anonymous namespaces Switch CI branches to feature/hybrid_planning Update message name Remove moveit_msgs from .repos file Update github workflows Remove note from readme about building from source Minor renamings, make reset() noexcept Check for vector length of zero Load moveit_cpp options with the Options helper. Reduces LOC. Set the planning parameters within plan() Function renaming Authors and descriptions in header files only. New header file for error code interface. Update namespacing Use default QoS for subscribers Better progress comparison Add publish_joint_positions and publish_joint_velocities param Grammar and other minor nitpicks Restore moveit_msgs to .repos, for now
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Dec 3, 2021
…eit#585) Fix hybrid planning include folders (moveit#675) Order stuff in the CMakeLists.txt and remove control_box package Update README Move member initialization to initializer lists Remove control_box include dependency Replace "loop-run" with "iteration" Remove cpp interface class constructors and destructors Use joint_state_broadcaster, clean up test node, add execution dependencies Use only plugin interface header files and add missing dependencies Clean up constructor and destructor definitions Declare missing parameter in moveit_planning_pipeline_plugin Move rclcpp::Loggers into anonymous namespaces Switch CI branches to feature/hybrid_planning Update message name Remove moveit_msgs from .repos file Update github workflows Remove note from readme about building from source Minor renamings, make reset() noexcept Check for vector length of zero Load moveit_cpp options with the Options helper. Reduces LOC. Set the planning parameters within plan() Function renaming Authors and descriptions in header files only. New header file for error code interface. Update namespacing Use default QoS for subscribers Better progress comparison Add publish_joint_positions and publish_joint_velocities param Grammar and other minor nitpicks Restore moveit_msgs to .repos, for now
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…eit#585) Fix hybrid planning include folders (moveit#675) Order stuff in the CMakeLists.txt and remove control_box package Update README Move member initialization to initializer lists Remove control_box include dependency Replace "loop-run" with "iteration" Remove cpp interface class constructors and destructors Use joint_state_broadcaster, clean up test node, add execution dependencies Use only plugin interface header files and add missing dependencies Clean up constructor and destructor definitions Declare missing parameter in moveit_planning_pipeline_plugin Move rclcpp::Loggers into anonymous namespaces Switch CI branches to feature/hybrid_planning Update message name Remove moveit_msgs from .repos file Update github workflows Remove note from readme about building from source Minor renamings, make reset() noexcept Check for vector length of zero Load moveit_cpp options with the Options helper. Reduces LOC. Set the planning parameters within plan() Function renaming Authors and descriptions in header files only. New header file for error code interface. Update namespacing Use default QoS for subscribers Better progress comparison Add publish_joint_positions and publish_joint_velocities param Grammar and other minor nitpicks Restore moveit_msgs to .repos, for now
AndyZe
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Dec 7, 2021
…eit#585) Fix hybrid planning include folders (moveit#675) Order stuff in the CMakeLists.txt and remove control_box package Update README Move member initialization to initializer lists Remove control_box include dependency Replace "loop-run" with "iteration" Remove cpp interface class constructors and destructors Use joint_state_broadcaster, clean up test node, add execution dependencies Use only plugin interface header files and add missing dependencies Clean up constructor and destructor definitions Declare missing parameter in moveit_planning_pipeline_plugin Move rclcpp::Loggers into anonymous namespaces Switch CI branches to feature/hybrid_planning Update message name Remove moveit_msgs from .repos file Update github workflows Remove note from readme about building from source Minor renamings, make reset() noexcept Check for vector length of zero Load moveit_cpp options with the Options helper. Reduces LOC. Set the planning parameters within plan() Function renaming Authors and descriptions in header files only. New header file for error code interface. Update namespacing Use default QoS for subscribers Better progress comparison Add publish_joint_positions and publish_joint_velocities param Grammar and other minor nitpicks Restore moveit_msgs to .repos, for now
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Description
Instead of the MoveIt planning pipeline, the global planner component is extended with a global planner plugin to support various global planner implementations like the planning pipeline or MTC. To try it, please use this branch of my moveit_msgs fork.
Checklist