Ompl constrained orientation #9
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…n the python interface (moveit#2231)
* Move last_sent_command_ update from constructor to start * Tweak demo configs * Add install folders to CMakeLists * Add clarity to parameter warning
* Add a utility for logging collision pairs * Update printing style, rename function, move constants into the struct
... until it is released.
This reverts commit 4db7ccb. Instead, use ros-testing repo.
…it#2293) Otherwise, we get entries like this in ompl_planning.yaml, where "None", of course, is not a valid planner config: arm: default_planner_config: None
…oveit#2300) This fixes a failing test on the ROS buildfarm: http://build.ros.org/job/Ndev__moveit__ubuntu_focal_amd64/1
* Rework velocity limit enforcement, add unit test * Test every command out of Servo * Minor variable renaming * Clang format & clang tidy * Delete unused acceleration variable
- better use of space / overall smaller panel - remove goal constraints field, it's not used and not intuitive in the GUI either - reorder check boxes by subjective usefulness - Add better tooltips - Remove autoScroll from Planning Parameters field - Fix tabstop order - Align columns of Planning tab Co-authored-by: Robert Haschke <[email protected]>
... to correctly rewrite shebang
fix some more python3 issues
moveit/geometric_shapes#161 introduced a syntax simplification employing C++14 features (constexpr).
* fixed mesh_filter error spam on startup * infinite loop fix from Andy
Deprecate namespace moveit::planning_interface:: in favor of moveit_cpp::
* Format default pipeline / planner as bold Co-Authored-By: Robert Haschke <[email protected]>
So far, executeAndMonitor() was only called via planAndExecuteHelper(), which was resetting the preempt-requested flag when entering the function (ignoring leftover preempt signals from previous runs). However, now MTC also calls executeAndMonitor() directly and thus we need to reset the flag there as well - but only if it is called directly.
* Publish Servo stop in Pose Tracking cleanup * Move publish halt to stopMotion()
* Order PlaceLocations by quality during planning The quality field was added by moveit/moveit_msgs@cdb9e4a. The changes are adapted from pick.cpp, where the Grasps are also ordered by quality. * Use stable_sort to preserve order of equal-quality place locations * Pick: use stable_sort to preserve order of equal-quality grasps Co-authored-by: Robert Haschke <[email protected]>
Occurred when a group was defined in the launch file without a `ns` attribute.
Provide python bindings for basic classes of moveit_core: - collision_detection: Contact, CollisionRequest, CollisionResult, AllowedCollisionMatrix - kinematic_constraints: ConstraintEvaluationResult, KinematicConstraintSet, constructGoalConstraints - planning_scene: PlanningScene, - robot_model: RobotModel, JointModelGroup - robot_state: RobotState - transforms: Transforms
This is public API because the solver's getPositionIK requires input poses in the frame and the relevant transform is otherwise inaccessible. Partially reverts moveit#2461.
gautz
changed the base branch from
orientation-constraints-parameterization
to
ompl-orientation-constraints-v5
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It seems to work! I updated the corresponding tutorial. |
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Description
I got orientation constraints back available with OMPL constrained planner. Here is what I did:
Related issues:
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