Add Hybrid planning action definitions #114
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sjahr
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These actions make sense for the hybrid planner, and this PR should probably be merged before moveit/moveit2#488
Just left one small nitpicking comment to consider making the action naming consistent
| @@ -108,6 +108,9 @@ set(action_files | |||
| "action/MoveGroupSequence.action" | |||
| "action/Pickup.action" | |||
| "action/Place.action" | |||
| "action/LocalPlanner.action" | |||
| "action/GlobalPlanner.action" | |||
| "action/HybridPlanning.action" | |||
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Only a tiny comment, this is *Planner, *Planner, *Planning, maybe the last should be action/HybridPlanner?
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I agree with @AdamPettinger, the names could be a little bit more consistent. I'm wondering if there is a better name than action/HybridPlanning which indicates that the motion is executed at the same time...
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The latest commit breaks the API in favor of the new plugin interface for the global planner (moveit2 #585) |
| @@ -0,0 +1,9 @@ | |||
| # Motion planning request to the global planner | |||
| string planning_group | |||
| moveit_msgs/MotionSequenceRequest desired_motion_sequence | |||
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I'm not really convinced of this name. Simply request would be fine imo
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I think calling this motion_sequence (As it is in the HybridPlanner.action) is actually clearer when used in code as it is a sub-message of the action goal.
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Closing in favor of #135 where I will continue this work. |
This PR adds the action interfaces for MoveIt 2's hybrid planning feature (more information about it can be found in these moveit2 issues: #300 & #433)