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Split collision proximity threshold #2008

Merged
merged 7 commits into from
Apr 13, 2020
Merged

Split collision proximity threshold #2008

merged 7 commits into from
Apr 13, 2020

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JStech
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@JStech JStech commented Apr 2, 2020 •
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Description

Replaces collision_proximity_threshold config parameter with self_collision_proximity_threshoold and scene_collision_proximity_threshold, so that a lower self-collision threshold can be used. This helps handle near-collisions we suspect are from links that are always near to each other, although unlikely to collide.

Checklist

  • Required by CI: Code is auto formatted using clang-format
  • Extend the tutorials / documentation reference
  • Document API changes relevant to the user in the MIGRATION.md notes
  • Create tests, which fail without this PR reference
  • Include a screenshot if changing a GUI
  • While waiting for someone to review your request, please help review another open pull request to support the maintainers

henningkayser
henningkayser reviewed Apr 2, 2020
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Looks good in general, I'll stress test this a bit. Please rebase and then lgtm after #1982

moveit_experimental/moveit_jog_arm/include/moveit_jog_arm/jog_calcs.h Outdated Show resolved Hide resolved
moveit_experimental/moveit_jog_arm/src/collision_check_thread.cpp Outdated Show resolved Hide resolved
moveit_experimental/moveit_jog_arm/src/collision_check_thread.cpp Outdated Show resolved Hide resolved
moveit_experimental/moveit_jog_arm/src/collision_check_thread.cpp Outdated Show resolved Hide resolved
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AndyZe commented Apr 2, 2020

Did you test it? Maybe on the UR5 simulation? I can do that, if you want

@JStech JStech force-pushed the split-collision-proximity-threshold branch from a5c0bad to dce6344 Compare April 3, 2020 21:13
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JStech commented Apr 3, 2020 •
edited

I did test it with the UR5 simulation on our current project.

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AndyZe commented Apr 4, 2020

Looks good to me!

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Looks good in general, Travis CI seems to require another rebase. Please consider the alternative implementation I suggested.

@JStech JStech force-pushed the split-collision-proximity-threshold branch from 3aaaa5f to 357052e Compare April 8, 2020 20:38
@JStech JStech force-pushed the split-collision-proximity-threshold branch from 619fdc7 to 91b989e Compare April 8, 2020 23:38
henningkayser
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Great work! Could you take care about the last comment I have? Then lgtm

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@henningkayser henningkayser merged commit 3be547d into moveit:master Apr 13, 2020
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welcome bot commented Apr 13, 2020

Congrats on getting your first MoveIt pull request merged and improving open source robotics!

@JStech JStech mentioned this pull request Apr 13, 2020
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@tylerjw tylerjw mentioned this pull request May 8, 2020
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tylerjw pushed a commit to PickNikRobotics/moveit that referenced this pull request May 12, 2020
@JStech @tylerjw
[jog_arm] Split collision proximity threshold (moveit#2008)
65976ec 
* separate proximity threshold values for self-collisions and scene collisions
* increase default value of scene collision proximity threshold
* deprecate old parameters
tylerjw pushed a commit to PickNikRobotics/moveit that referenced this pull request May 12, 2020
@JStech @tylerjw
[jog_arm] Split collision proximity threshold (moveit#2008)
3a4da50 
* separate proximity threshold values for self-collisions and scene collisions
* increase default value of scene collision proximity threshold
* deprecate old parameters
tylerjw pushed a commit to PickNikRobotics/moveit that referenced this pull request May 20, 2020
@JStech @tylerjw
[jog_arm] Split collision proximity threshold (moveit#2008)
07a4606 
* separate proximity threshold values for self-collisions and scene collisions
* increase default value of scene collision proximity threshold
* deprecate old parameters
sjahr pushed a commit to sjahr/moveit that referenced this pull request Jun 21, 2024
@abhijelly @henningkayser @tylerjw
Fix include install destination (moveit#2008)
2ba82bb 
Co-authored-by: Henning Kayser <henningkayser@picknik.ai>
Co-authored-by: Tyler Weaver <maybe@tylerjw.dev>
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@henningkayser henningkayser henningkayser approved these changes

@AndyZe AndyZe AndyZe approved these changes

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