[MSA] Merge main into feature/msa (Part II) #1240
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Clear all references to RobotModel before destroying the corresponding RobotModelLoader.
* waitForAction(): remove NodeHandle argument * The NodeHandle was just for NodeHandle::ok(), which can be handled by ros::ok() as well. * Fix initialization of params, etc. that depend on MoveGroupNS * When the MoveGroupNS has changed, we should re-initialize all these params, subscribers, and topics. Thus having them in a central place is helpful ;-) * Fix namespaces as pointed out by @v4hn * Simplify nh_ naming * update comments
"attach_posture" is plain wrong. I don't see why clang-tidy did not find this before.
to resolve links for attached objects as well
Merge branch 'pr-master-state-rigidly-attached-parent'
…gs (moveit#2928) While we need to pass execution_type to fake_moveit_controller_manager.launch, the controller_manager.launch files of real-robot shouldn't be required to define this argument. However, if they don't roslaunch fails with an `unused args` exception (see moveit#2786). Passing arguments via pass_all_args should solve that issue.
* Switch CCOV to build type Debug RelWithDebInfo was using -DNDEBUG, thus ignoring all assertions. Also use -fno-omit-frame-pointer to have better coverage analysis. * Use lcov-action to generate coverage info * Unify syntax of `if` conditions
* fix enforce position bug * remove unnecessary variable * make clang tidy happy * Update my comment * implement same logic as in the moveit2! repo * fix copy-pase error Co-authored-by: Michael Wiznitzer <michael.wiznitzer@resquared.com> Co-authored-by: AndyZe <andyz@utexas.edu>
- Downgrade ERROR to WARN - Report affected joint name - Quote (possibly empty) planner id
When planning an arm motion, Pilz's PTP planner shouldn't complain (and bail out) on missing joint limits of hand joints!
Just complain about negative / zero values.
Otherwise, on a failure, the implicitly used success() will skip the step.
Gazebo requires a fixed joint from world to the first robot link. This resembles the virtual_joint of SRDF. However, the RobotModel parser issues the following warning: Skipping virtual joint 'xxx' because its child frame 'xxx' does not match the URDF frame 'world'
Fixes the following error (occurring since 61d18f2) ``` [FATAL] ros.moveit_ros_planning.trajectory_execution_manager: Exception while loading controller manager 'robot': According to the loaded plugin descriptions the class robot with base class type moveit_controller_manager::MoveItControllerManager does not exist. ``` As we introduced `pass_all_args="true"`, the value of the argument `moveit_controller_manager` was the robot name.
There are 3 basic MoveIt controller manager plugins: - fake = `moveit_fake_controller_manager::MoveItFakeControllerManager` Used in demo.launch. Doesn't really control the robot, but just interpolates between via points. Allows these execution_types: - via points: just jumps to the via points - interpolate: linearly interpolates between via points (default) - last point: jumps to the final trajectory point (used for fast execution testing) - ros_control = `moveit_ros_control_interface::MoveItControllerManager` Interfaces to ros_control controllers. - simple = `moveit_simple_controller_manager/MoveItSimpleControllerManager` Interfaces to action servers for `FollowJointTrajectory` and/or `GripperCommand` that in turn interface to the low-level robot controllers (typically based on ros_control) However, so far move_group.launch distinguished between `fake` and `robot` only. The argument moveit_controller_manager now allows switching between all 3 variants. Adding more *_moveit_controller_manager.launch files allows for an extension of this scheme.
- Reading both, the default and the existing package's sensors_3d.yaml
into the config, the config file was growing by 2 configs each time.
- Not visiting the Perception tab, was writing the default config with 2 entries
- Selecting "None" was writing an invalid config:
sensors:
- {}
- {}
Signed-off-by: Gaël Écorchard <gael.ecorchard@cvut.cz>
…eit#1218) Co-authored-by: Jafar <cafer.abdi@gmail.com>
Co-authored-by: jeoseo <jeongwooseo2012@gmail.com>
…ion algorithm (moveit#1195) * A new function for common time-param calculations * Flesh out the second computeTimeStamps function * Reading of the custom limits * Add a unit test * Revert comment changes about exceptions * Small efficiency improvements * Add computeTimeStamps() overload to the base class Co-authored-by: Jafar <cafer.abdi@gmail.com>
…1221) * Move common functionality to utility functions * Add a utility function to read RobotModel bounds * Add a unit test for the new version of computeTimeStamps() * Clean up Doxygen * Use ruckig::DynamicDOFs everywhere
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Codecov Report
@@ Coverage Diff @@
## feature/msa #1240 +/- ##
===============================================
+ Coverage 59.13% 61.27% +2.14%
===============================================
Files 275 274 -1
Lines 23732 24925 +1193
===============================================
+ Hits 14032 15270 +1238
+ Misses 9700 9655 -45
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Description
Merging the changes from upstream into the feature branch.
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