Implement low-level interface moveit_cpp #1656
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moveit_ros/planning_interface/moveit_cpp/include/moveit/moveit_cpp/moveit_cpp.h
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| @@ -0,0 +1,12 @@ | |||
| set(MOVEIT_LIB_NAME moveit_cpp) | |||
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| add_library(${MOVEIT_LIB_NAME} src/moveit_cpp.cpp src/planning_component.cpp) | |||
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| add_library(${MOVEIT_LIB_NAME} src/moveit_cpp.cpp src/planning_component.cpp) | ||
| set_target_properties(${MOVEIT_LIB_NAME} PROPERTIES VERSION "${${PROJECT_NAME}_VERSION}") | ||
| target_link_libraries(${MOVEIT_LIB_NAME} moveit_common_planning_interface_objects moveit_planning_scene_interface ${catkin_LIBRARIES} ${Boost_LIBRARIES}) |
| * POSSIBILITY OF SUCH DAMAGE. | ||
| *********************************************************************/ | ||
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| /* Author: Henning Kayser */ |
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Add description of what this file does
| std::string publish_planning_scene_topic; | ||
| double wait_for_initial_state_timeout; | ||
| }; | ||
| struct PlanningPipelineOptions |
| std::vector<std::string> pipeline_names; | ||
| std::string parent_namespace; | ||
| }; | ||
| struct PlannerOptions |
| } | ||
| // TODO(henningkayser): fix and remove lines below | ||
| ros::spinOnce(); | ||
| ros::Duration(0.5).sleep(); // when at 0.1, i believe sometimes vjoint not properly loaded |
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is this comment old from my boilerplate code? it looks familar to me. i think we should remove the sleep.
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| robot_model::RobotModelConstPtr MoveItCpp::getRobotModel() const | ||
| { | ||
| ROS_DEBUG_NAMED(LOGNAME, "MoveItCpp::getRobotModel()"); |
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| const ros::NodeHandle& MoveItCpp::getNodeHandle() const | ||
| { | ||
| ROS_DEBUG_NAMED(LOGNAME, "MoveItCpp::getNodeHandle()"); |
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remove these loggers.. this is a simple getter
| const planning_scene_monitor::PlanningSceneMonitorPtr& MoveItCpp::getPlanningSceneMonitor() const | ||
| { | ||
| return planning_scene_monitor_; | ||
| } |
| *********************************************************************/ | ||
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| /* Author: Jafar Abdi | ||
| Desc: Test the MoveItCpp and PlanningComponent interfaces |
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Love that there's a Desc here!
| } | ||
| // TODO(henningkayser): fix and remove lines below | ||
| ros::spinOnce(); | ||
| ros::Duration(0.5).sleep(); // when at 0.1, i believe sometimes vjoint not properly loaded |
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The last commit fix the kinetic error, please see |
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requested review from
bmagyar,
BryceStevenWilley,
gavanderhoorn,
IanTheEngineer,
jonbinney,
jrgnicho,
mamoll,
mikeferguson,
mlautman and
v4hn
as code owners
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henningkayser
removed request for
jonbinney,
jrgnicho,
bmagyar,
gavanderhoorn,
BryceStevenWilley and
v4hn
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Cleaned up commit history and rebased onto master, lgtm |
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Hurray! v0 of moveit_cpp has been merged. @henningkayser can you announce this on MoveIt Discourse? |
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@JafarAbdi, @henningkayser the new unit test is flaky and breaks Travis randomly. Please fix asap. |
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@rhaschke Thank you for reporting! I'm working on it right now! I just tried to run the test forever and indeed sometimes I get seg fault ros.moveit_ros_planning_interface.moveit_cpp: MoveItCpp running
Segmentation fault (core dumped) |
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@rhaschke @v4hn We've debugged this and @JafarAbdi will file a PR for this. The issue is caused by the fake controller not publishing valid joint states for joints not configured in the initial state. In this particular case |
As already discussed in the last maintainer meeting we at PickNik have a need for a set of low-level interface classes that allow us to use, modify and exchange core components without the overhead
to adjust message types. Also, we are implementing performance-critical functions that are not throttled by the ROS ecosystem. The first MVP is a MoveGroup-like set of features that allows basic planning and execution for different planning groups. I will follow-up with more detailed explanation of the goals, requirements, roadmap and design decisions.