[pull] master from ros-planning:master #4
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distance() respects unlimited revolute joints
…edPlanningContext via ompl_planning.yaml (#2172)
[jog_arm] Move and rename to moveit_ros/moveit_servo
There is a lot of infrastructure missing to get this to actually run... - the plugin needs to be registered - pr2_moveit_config is not in moveit_resources
* Clarify object importing * Add suggestion (LARGE_MESH_THRESHOLD) * Add file filter * Add tooltip, clarify names * Fix and clarify names in robot states tab * Add dialogue to Clear button in robot states
Co-authored-by: Henning Kayser <henningkayser@picknik.ai>
…ration (#2185) MoveIt wrapper to Time Optimal Trajectory Generation downsamples trajectory, but its hard coded to keep waypoints with at least 0.001 radians of motion on a joint. For very long and/or dense input trajectories, the downsampled trajectory is still way too large for the iterative optimization algorithm to finish in reasonable time. I was seeing 3000 point trajectory taking ~15 seconds. This fix allows the user to set this downsampling density in minimum radians of motion between two waypoints to something else (presumably higher like 0.5 degrees [0.00875 radians]) in order to drastically improve the speed of this algorithm.
which (mostly) are redundant to the corresponding C++ tests.
- grid layout for object position/orientation spin boxes (to not rely on chance for their column-wise layout anymore) - Limit position spin boxes to -999..999 This essentially cancels one digit to be displayed, which significantly reduces the minimum width of the widget.
clearSceneButtonClicked() -> clearScene() removeObjectButtonClicked() -> removeSceneObject() publishSceneButtonClicked()-> publishScene()
Mesa OpenGL 20.x seems to have worsen the situation...
Add primitive shapes widgets
... to fix issue moby/moby#36417
* add named logging with LOGNAME to ompl interface * clang-format
* remove unused subspaces option and code from ompl interface * remove unused code from StateValidityChecker in ompl interface
* Exposed the wait_for_servers parameter in the Pyhton interface * Add missing getPlannerId interface from MoveGroup PythonWrapper
* fix / ignore clang-tidy warnings in ompl interface * remove NOLINT and fix warning in ompl interface
Remove most obvious unused includes, as recommended by include-what-you-use (see moveit/moveit#2170)
* Check collisions during joint motions, too. Print colliding objects, for debugging. * Small code simplification * Use the argument to printCollisionPairs * Clang format * Fix misspelling * Log all colliding pairs * Adjustments to print formatting and log levels
) * Treat subframes when detaching objects * reduce code complexity - remove code duplication, when fetching attached bodies - simplify function calls when detaching (attached) bodies * Maintain subframes when scaling/renaming objects in Rviz * clang-format * Add review comments * More review comments * minor nits * fixup: use STREAM logging * Add TODO Co-authored-by: Robert Haschke <rhaschke@techfak.uni-bielefeld.de> Co-authored-by: v4hn <me@v4hn.de>
CHOMPPlanner doesn't fill velocity, acc or time. We need AddTimeParameterization at least to use this planner with ros_control.
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