Sync with master branch up to 460caab

moveit · Jun 16, 2021 · 20b8ce0 · 20b8ce0
2 parents 5bc4ed1 + 460caab
commit 20b8ce0
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Showing 7 changed files with 18 additions and 7 deletions.
diff --git a/action/Pickup.action b/action/Pickup.action
@@ -39,8 +39,7 @@ Constraints path_constraints
 string planner_id
 
 # an optional list of obstacles that we have semantic information about
-# and that can be touched/pushed/moved in the course of grasping;
-# CAREFUL: If the object name 'all' is used, collisions with all objects are disabled during the approach & lift.
+# and that can be touched/pushed/moved in the course of grasping
 string[] allowed_touch_objects
 
 # The maximum amount of time the motion planner is allowed to plan for

diff --git a/action/Place.action b/action/Place.action
@@ -30,8 +30,7 @@ Constraints path_constraints
 string planner_id
 
 # an optional list of obstacles that we have semantic information about
-# and that can be touched/pushed/moved in the course of placing;
-# CAREFUL: If the object name 'all' is used, collisions with all objects are disabled during the approach & retreat.
+# and that can be touched/pushed/moved in the course of placing
 string[] allowed_touch_objects
 
 # The maximum amount of time the motion planner is allowed to plan for

diff --git a/msg/MotionPlanRequest.msg b/msg/MotionPlanRequest.msg
@@ -24,8 +24,12 @@ TrajectoryConstraints trajectory_constraints
 # These trajectories do not override start_state or goal_constraints
 GenericTrajectory[] reference_trajectories
 
-# The name of the motion planner to use. If no name is specified,
-# a default motion planner will be used
+# The name of the planning pipeline to use. If no name is specified,
+# the configured planning pipeline will be used
+string pipeline_id
+
+# The name of the planning algorithm to use. If no name is specified,
+# the default planner of the planning pipeline will be used
 string planner_id
 
 # The name of the group of joints on which this planner is operating

diff --git a/msg/PlannerInterfaceDescription.msg b/msg/PlannerInterfaceDescription.msg
@@ -1,5 +1,8 @@
 # The name of the planner interface
 string name
 
+# The name of the planning pipeline
+string pipeline_id
+
 # The names of the planner ids within the interface
 string[] planner_ids
diff --git a/package.xml b/package.xml
@@ -32,7 +32,7 @@
   <exec_depend>rosidl_default_runtime</exec_depend>
 
   <member_of_group>rosidl_interface_packages</member_of_group>
-  
+
   <test_depend>ament_lint_auto</test_depend>
   <test_depend>ament_lint_cmake</test_depend>
 

diff --git a/srv/GetPlannerParams.srv b/srv/GetPlannerParams.srv
@@ -1,3 +1,6 @@
+# Name of the planning pipeline, uses default if empty
+string pipeline_id
+
 # Name of planning config
 string planner_config
 

diff --git a/srv/SetPlannerParams.srv b/srv/SetPlannerParams.srv
@@ -1,3 +1,6 @@
+# Name of the planning pipeline, uses default if empty
+string pipeline_id
+
 # Name of planning config
 string planner_config