Empty collision checker template for usage with tesseract and bullet #1499

j-petit · 2019-06-10T21:34:47Z

Description

This PR is concerned with GSoC #1427 and supersedes #1484 as the PR started to get too big to be easily reviewed. In this PR no collision checking functionality is included as it is an empty template. The follow up PR #1500 adds a basic Bullet + Tesseract collision checker.

BryceStevenWilley

All the exsting code looks great! The only thing that I think this PR needs is:

A plugin xml duplicated from FCL's (this commit has most of the changes you'll need to make)
A short README on how to use the collision checker. I believe that you need to set the collision detection param in the move group launch, but it's okay for now to just say you have to manually instantiate this.

moveit_core/collision_detection_bullet/src/collision_robot_bt.cpp

moveit_core/collision_detection_bullet/src/collision_world_bt.cpp

BryceStevenWilley · 2019-06-12T12:21:10Z

Looks like catkin lint is failing because you have to manually add this new folder to the moveit_core CMakeLists.

davetcoleman

minor feedback

moveit_core/collision_detection_bullet/README.md

...detection_bullet/include/moveit/collision_detection_bullet/collision_detector_allocator_bt.h

moveit_core/collision_detection_bullet/src/collision_common.cpp

moveit_core/collision_detector_fcl_description.xml

j-petit · 2019-06-21T07:17:53Z

Close and open to restart Travis

j-petit · 2019-06-21T08:42:36Z

Can someone help me why clang-tidy fails?

rhaschke · 2019-06-21T09:05:07Z

@j-petit, the Travis failure is due to an incompatible merge of two PRs in https://github.com/ros-planning/moveit_ci. I will have a look...

j-petit · 2019-06-21T10:32:54Z

It passed after restarting Travis.

j-petit · 2019-06-24T15:54:18Z

Ping, can we get this merged?

BryceStevenWilley · 2019-06-26T02:03:48Z

@davetcoleman are you good with this PR?

davetcoleman

I made a small suggestion, but you can fix that in your next PR so this keeps moving.

davetcoleman · 2019-06-26T17:56:20Z

...detection_bullet/include/moveit/collision_detection_bullet/collision_detector_allocator_bt.h

+    : public CollisionDetectorAllocatorTemplate<CollisionWorldBt, CollisionRobotBt, CollisionDetectorAllocatorBt>
+{
+public:
+  static const std::string NAME;  // defined in collision_world_bt.cpp


Suggested change

static const std::string NAME; // defined in collision_world_bt.cpp

static const std::string COLLISION_CHECKER_NAME; // defined in collision_world_bt.cpp

j-petit · 2019-06-27T07:19:25Z

Thanks!

…oveit#1499) * Adding documentation to collision detection (moveit#1488) * CMake adaptions for Tesseract integration * Empty collision detector template for tesseract and bullet * Making bullet as a collision plugin available * Adding missing error messages * Adding new folders and libraries to cmake * Fixing the BSD license * clang-format

* Empty collision checker template for usage with tesseract and bullet (#1499) * Adding documentation to collision detection (#1488) * CMake adaptions for Tesseract integration * Empty collision detector template for tesseract and bullet * Making bullet as a collision plugin available * Adding missing error messages * Adding new folders and libraries to cmake * Fixing the BSD license * clang-format * Generic collision detection test suite (#1543) Generalize collision detection tests by using a templated test fixture. * Bullet Collision Detection (#1504) * Added discrete BVH Bullet manager * Added continuous collision detection * Cleanup of tesseract code * removed simple collision managers * changed enum to enum classes * fixed typos * removing debugging statements * removing tesseract allowed collision matrix * removed tesseract macros * replaced typedefs of stl containers * removed tesseract attached object code * ACM members of collision robot and world removed and ACM check into callback out of class * remove ContactTestType and replace through MoveIt CollisionRequest * BodyType int changed to enum * removed tesseract_msgs dependency and unnecessary tesseract code * changed dependency from bullet3_ros to debian Bullet package * Adding bullet and tesseract simple collision manager to the template: * added benchmark case for checking collision speed * tests for bullet collision checking * Adding missing features: * attached objects * contact reporting max number of contacts fixed * Bullet plugin xml name fixed * padding and scaling for robot added * updated tests * Adding continuous collision detection to Bullet (#1551) * Adding continous collision detection: * check only active links added * benchmark FCL vs Bullet * renaming files from bt to bullet * renaming variables from bt to bullet * clang-tidy and clang-format * renaming of variables to be in moveit format * continuous tests added * CCD active links changed * distance testing added to panda test suite * New collision features: * broadphase early culling * minimal distance reporting * renaming collision filter and group * removed extra margin on AABB for bullet * ACM in test from SRDF * PR review * Unified Collision Environment Bullet (#1572) * Templated tests adapted for unified collision env * Unified Bullet collision environment: * broadphase filtering adapted for early culling * ACM from SRDF in test * cleanup for bullet single collision env * removed link2castcow for CCD and only use constructor of COW directly * parent class for collision managers * removed function pointer for ACM check * removed extra self-collision manager and use only single manager * speed benchmark for unified environment * PR review: * more descriptive variable names * added user to TODO * PR review: * shortening namespace * documentation improvements * virtual destructor of BVH manager * remove extra speed benchmark * bugfix for not initialized managers * Licenses revised of old tesseract files * PR review: * replaced include guards through pragma * used default instead of empty {} for ctor/dtor * Comments in Bullet readme about thread safety and speed * Readme for speed benchmark (#1648) * FCL Bullet benchmark readme * Benchmark script and launch file updated * PR review fixups * Adapt cmake for Bullet (#1744) * cmake for using Bullet only if correct version available * Fixup * PR review fixup * Rewrite with own FindBullet.cmake * Use pkg-config * Fix travis failure for melodic * Fix moveit_ros_planning dependency on Bullet * Rename PR2-related collision test files (#1856)

j-petit added 3 commits June 3, 2019 21:10

Adding documentation to collision detection (moveit#1488)

b66c3df

CMake adaptions for Tesseract integration

df35147

Empty collision detector template for tesseract and bullet

3e86cab

j-petit requested review from davetcoleman, rhaschke and v4hn as code owners June 10, 2019 21:34

j-petit changed the title ~~Empty collision checker template for usage with tesseract and bullet (#1427)~~ Empty collision checker template for usage with tesseract and bullet Jun 10, 2019

This was referenced Jun 10, 2019

Adding Bullet and Tesseract into MoveIt [WIP] #1500

Closed

Integrating Bullet into MoveIt [WIP] (#1427) #1484

Closed

GSoC: Improved Collision Checking #1427

Open

BryceStevenWilley suggested changes Jun 12, 2019

View reviewed changes

moveit_core/collision_detection_bullet/src/collision_robot_bt.cpp Show resolved Hide resolved

moveit_core/collision_detection_bullet/src/collision_world_bt.cpp Show resolved Hide resolved

j-petit added 2 commits June 12, 2019 09:34

Making bullet as a collision plugin available

d9e8770

Adding missing error messages

f640a8e

BryceStevenWilley approved these changes Jun 12, 2019

View reviewed changes

davetcoleman reviewed Jun 12, 2019

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j-petit added 2 commits June 13, 2019 09:07

Adding new folders and libraries to cmake

8b1bd30

Fixing the BSD license

aa82ad2

j-petit mentioned this pull request Jun 14, 2019

Adding Bullet and Tesseract into MoveIt #1504

Merged

rhaschke force-pushed the feature-bullet-collision branch from 4515772 to 7f16c9a Compare June 20, 2019 06:59

clang-format

513e682

j-petit closed this Jun 21, 2019

j-petit reopened this Jun 21, 2019

j-petit closed this Jun 21, 2019

j-petit reopened this Jun 21, 2019

rhaschke force-pushed the feature-bullet-collision branch from 7f16c9a to c5ebd7a Compare June 21, 2019 15:47

davetcoleman approved these changes Jun 26, 2019

View reviewed changes

davetcoleman merged commit 737b909 into moveit:feature-bullet-collision Jun 26, 2019

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Empty collision checker template for usage with tesseract and bullet #1499

Empty collision checker template for usage with tesseract and bullet #1499

j-petit commented Jun 10, 2019 •

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BryceStevenWilley commented Jun 12, 2019

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j-petit commented Jun 21, 2019

j-petit commented Jun 21, 2019

rhaschke commented Jun 21, 2019

j-petit commented Jun 21, 2019

j-petit commented Jun 24, 2019

BryceStevenWilley commented Jun 26, 2019

davetcoleman left a comment

davetcoleman Jun 26, 2019

j-petit commented Jun 27, 2019

	static const std::string NAME; // defined in collision_world_bt.cpp
	static const std::string COLLISION_CHECKER_NAME; // defined in collision_world_bt.cpp

Empty collision checker template for usage with tesseract and bullet #1499

Empty collision checker template for usage with tesseract and bullet #1499

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j-petit commented Jun 10, 2019 • edited Loading

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j-petit commented Jun 21, 2019

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j-petit commented Jun 10, 2019 •

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