PILZ: Throw if IK solver doesn't exist #2082
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sjahr
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## main #2082 +/- ##
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Coverage ? 50.90%
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Files ? 391
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henningkayser
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Apr 5, 2023
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Thank you! This also looks like something that should be checked in canServiceRequest(). https://github.com/ros-planning/moveit2/blob/main/moveit_planners/pilz_industrial_motion_planner/src/pilz_industrial_motion_planner.cpp#L157. Looking at that function, it's also missing proper checks for supported constraints
abhijelly
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Apr 9, 2023
Increase priority for constrained planning state space (moveit#1300) * Change priority for the constrained planning state space * Fix constrained planning tests * Use PRM instead of RRTConnect --------- Co-authored-by: Sebastian Jahr <sebastian.jahr@picknik.ai> Remove "new" from smart pointer instantiation (moveit#2019) Temporarily disable TestPathConstraints with the Panda robot (moveit#2016) This test has become flaky since it was modified to use the OMPL constrained state space (moveit#2015). Fix mimic joints with TOTG (moveit#1989) Fix include install destination (moveit#2008) Co-authored-by: Henning Kayser <henningkayser@picknik.ai> Co-authored-by: Tyler Weaver <maybe@tylerjw.dev> Ruckig-smoothing : reduce number of duration extensions (moveit#1990) * extend duration only for failed segment * update comment * Remove trajectory reset before extension * readability improvement * Remove call to RobotState update --------- Co-authored-by: ibrahiminfinite <ibrahimjkd@@gmail.com> Co-authored-by: AndyZe <andyz@utexas.edu> Add stale GHA (moveit#2022) * Issues and PRs are labeled as stale after 45 days. * Stale issues are closed after another 45 days. Enable workflow_dispatch for stale GHA Remove invalid description field in GHA Add callback for velocity scaling override + fix params namespace not being set (moveit#2021) Fix python tests (moveit#1979) * ensure joint models in robot_model submodule * add build tests Upgrade apt dependencies --with-new-pkgs (moveit#2039) 2.7.1 🛠️ Bump actions/stale from 7 to 8 (moveit#2037) Allow ci-testing Dockerfile to update the ROS_DISTRO (moveit#2035) Move displaced launch file into planning_component_tools (moveit#2044) Delete the Ruckig "batches" option, deprecated by moveit#1990 (moveit#2028) Added set_robot_trajectory_msg to python bindings (moveit#2050) Use $DISPLAY rather than assuming :0 (moveit#2049) * Use $DISPLAY rather than assuming : * Double quotes --------- Co-authored-by: Sebastian Jahr <sebastian.jahr@picknik.ai> Optionally mitigate Ruckig overshoot (moveit#2051) * Optionally mitigate Ruckig overshoot * Cleanup Update description of moveit_ros_planning_interface (moveit#2045) * Update description of moveit_ros_planning_interface * Update moveit_ros/planning_interface/package.xml Co-authored-by: Henning Kayser <henningkayser@picknik.ai> --------- Co-authored-by: Henning Kayser <henningkayser@picknik.ai> Add URDF Loader Exceptions and Fix Infinite While-Loop when URDF file isn't in a ROS Package (moveit#2032) * Fixed infinite while loop in utilities.cpp and added some exception handling to start screen widget * Fix trailing whitespace, fix getSharePath exception catch on empty request * Fix clang tidy suggestion and error message updates based on pr comments [hybrid planning] improve planning scene monitoring (moveit#1090) * Create new PSM in local constraint solver. Different type of collision checking. * Small boolean logic fixup * Don't configure planning scene monitor twice and pass scene as const * Remove not required call of updateSceneWithCurrentState() * Revert PlanningSceneMonitorConstPtr to PlanningSceneMonitorPtr * Set planning_scene_monitor update rate * Decrease planning scene update rate * Use `updateSceneWithCurrentState()` in psm * Revert the manner of collision checking --------- Co-authored-by: Sebastian Jahr <sebastian.jahr@picknik.ai> Document how collision checking includes descendent links (moveit#2058) Move stateless PlanningScene helper functions out of the class (moveit#2025) Readability: kinematic_state -> robot_state (moveit#2078) moveit_py citation (moveit#2029) Extract parallel planning from moveit cpp (moveit#2043) * Add parallel_planning_interface * Add parallel planning interface * Rename package to pipeline_planning_interface * Move plan_responses_container into own header + source file * Add plan_responses_contrainer source file * Add solution selection and stopping criterion function files * Remove parallel planning from moveit_cpp * Move parallel planning into planning package * Update moveit_cpp * Drop planning_interface changes * Add documentation * Update other moveit packages * Remove removed header * Address CI complains * Address clang-tidy complains * Address clang-tidy complains 2 * Address clang-tidy complains 3 * Extract planning pipeline map creation function from moveit_cpp * Cleanup comment * Use const moveit::core::RobotModelConstPtr& * Formatting * Add header descriptions * Remove superfluous TODOs * Cleanup PILZ: Throw if IK solver doesn't exist (moveit#2082) * Throw if IK solver doesn't exist * Format enabled -wformat (moveit#2065) Co-authored-by: Sebastian Jahr <sebastian.jahr@picknik.ai> Add test and debug issue where TOTG returns accels > limit (moveit#2084) lint fix lint fix 1 lint fix 2 lint fix 3
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Description
Within PILZ we call
->getSolverInstance()->getTipFrame()without checking thatgetSolverInstance() != nullptr. Calling getSolverTipFrame fixes thatChecklist