Merging Bullet feature branch #1839
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…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
Generalize collision detection tests by using a templated test fixture.
* 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 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
* 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
* FCL Bullet benchmark readme * Benchmark script and launch file updated * PR review fixups
* 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
j-petit
requested review from
henningkayser,
rhaschke and
v4hn
as code owners
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Closed and opened again to retrigger Travis as timeout made CI fail. |
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any idea why clang is failing? |
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hm, some unrelated tests (as far as I can tell) keep failing.. I have to investigate this. |
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I think the failures are still related to ros-shadow-fixed. I will retrigger Travis. |
rhaschke
reviewed
Jan 22, 2020
moveit_core/collision_detection/include/moveit/collision_detection/test_collision_common.h
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moveit_core/collision_detection_fcl/include/moveit/collision_detection_fcl/collision_common.h
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j-petit
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rhaschke
approved these changes
Jan 23, 2020
davetcoleman
approved these changes
Jan 23, 2020
davetcoleman
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Jan 23, 2020
This reverts commit 77fb00f.
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Merged again using a merge-commit to preserve the detailed history of the individual commits. |
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Thanks Robert 🎉 ! |
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Minor issue with this: |
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I don't think this can be fixed. |
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(Untested) ugly workaround: |
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Good idea. Could you file a PR for this, please? Thanks. |
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Description
This PR merges the Bullet feature branch into master. All commits have been individually reviewed before and every pending PR to the feature branch has been merged.