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Fcl as a Plugin #1370

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merged 3 commits into from Mar 7, 2019

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@BryceStevenWilley
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commented Mar 2, 2019

Description

I mentioned at the maintainer's meeting that I had once made the FCL collision detector a plugin, as opposed to its currently hardcoded state. This is the simple change to make that happen, and gets us one step closer to being able to easily use different collision detectors, like Bullet, in MoveIt.

To actually make this affect anything, you have to set the collision_detector param of the move group. In the generated move_group.launch, you can add

<param name="collision_detector" value="FCL"/>

right after jiggle_fraction to use it. Then the plugin loader loads it as seen here.
(This doesn't really make a difference, as the planning scene always loads the FCL plugin by default, but it's a step.)

Future changes should eventually make the collision detector a parameter in all of the generated move_group launch files. If desired, I could do that now, but it would take a while for me to figure out the MSA.

Checklist

  • Required by CI: Code is auto formatted using clang-format
  • Extended the tutorials / documentation, if necessary reference
  • Document API changes relevant to the user in the moveit/MIGRATION.md notes

@BryceStevenWilley BryceStevenWilley changed the title Fcl plugin Fcl as a Plugin Mar 2, 2019

@rhaschke
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Apart from the install issue, I approve this too.

@jrgnicho jrgnicho merged commit 7bd2ea6 into ros-planning:master Mar 7, 2019

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commented Mar 7, 2019

@jrgnicho, thanks for merging. Please consider our merge policy next time: The 3 commits should have been squashed-merged, because the additional commits are just cleanups of the first one.

@BryceStevenWilley BryceStevenWilley deleted the BryceStevenWilley:fcl_plugin branch Mar 7, 2019

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