motion_planning_rviz_plugin : add CartesianPath planning check box #1238
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The previous PR worked on kinetic, no? Should this be cherry-picked? You mentioned that #932 waits for this, but that PR is on kinetic. |
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@felixvd This PR contains several additional fixes. Looks like you vote for back-porting this? |
| bool success = | ||
| iptp.computeTimeStamps(rt, ui_->velocity_scaling_factor->value(), ui_->acceleration_scaling_factor->value()); | ||
| ROS_INFO("Computed time stamp %s", success ? "SUCCEDED" : "FAILED"); | ||
| ROS_INFO("Computing time stamps %s", success ? "SUCCEDED" : "FAILED"); |
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As this is already merged, could you please file a PR?
| double fraction = | ||
| move_group_->computeCartesianPath(waypoints, cart_step_size, cart_jump_thresh, trajectory, avoid_collisions); | ||
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| if (fraction >= 1.0) |
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This used to be > 0. With this version, the button fails silently. Is that on purpose?
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Yes, this was on purpose: If you cannot reach your target, the planning request should fail.
What do you mean by "fails silently"? It should be written "FAILED" and the partial trajectory should be shown.
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My bad, it will display "Failed" in the UI. I don't see how the partial trajectory would be displayed, but I'll go test first.
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I don't know what the general guideline is, but I would vote for backporting this particular PR because it affects the out-of-the-box experience for new users and demos. Especially if it compiles without changes on Kinetic (which it looks like). Maybe @k-okada and @7675t have an opinion about this and #932. edit: I'm assuming that the kinetic binaries are built from melodic-devel. If not you can ignore what I said. |
Rebase of #931 for Melodic, with additional cleanup and fixes:
cartesianPathToggled()computeCartesianPlan()andcomputeJointSpacePlan()@k-okada, please review.