Working Trajopt - #1

Open

ommmid wants to merge 648 commits into

This pull request is big! We're only showing the most recent 250 commits

Commits on Jul 2, 2020

partially transition unused test bin to rostest (#2158)
v4hn
authored
349eb83
Clean up Rviz plugin, fix mesh scaling (#2142)
felixvd
authored
5af7258
Prefer vendor-specific OpenGL library

rhaschke
and
henningkayser
committed
a617923

Commits on Jul 6, 2020

rviz panel: widgets for adding geometric primitives

jrgnicho
authored and
rhaschke
committed
f21bcae
Fix segfault in PSM::clearOctomap() (#2193)
henningkayser
authored
538d15f
use moveit_resources for testing (#2194)
tylerjw
authored
d6666a9

Commits on Jul 8, 2020

Unify UI of adding primitive and mesh shapes
rhaschke
committed
37b94e7
MP plugin: Tweak GUI layout
rhaschke
committed
a22edb8
Update query states if a collision object was attached/detached
rhaschke
committed
16a7df1
Rename MotionPlanningFrame functions
rhaschke
committed
157dd30
Track local PS changes and publish them before planning
rhaschke
committed
fe59e1d
Default to Planning tab initially
rhaschke
committed
e69e033
Explicitly added icon resources
rhaschke
committed
85f62d8

Commits on Jul 13, 2020

Remove urdf package as build_depend from package.xml (#2207)
JafarAbdi
authored
edc9cf6

Commits on Jul 17, 2020

Commits on Jul 20, 2020

Commits on Jul 21, 2020

Travis: Update dist to Bionic (#2221)
rhaschke
authored
6dbaf94
Add named logging with LOGNAME to OMPL interface (#2211)
JeroenDM
authored
89a6752

Commits on Jul 27, 2020

Remove dead code from ompl interface (related to subspaces) (#2214)
JeroenDM
authored
dc909df

Commits on Jul 28, 2020

Exposed missing parameters from the MoveGroup Python interface (#2201)
gerardcanal
authored
2f0b5bb

Commits on Jul 29, 2020

Add documentation to ompl interface (#2226)
JeroenDM
authored
9093716
OMPL interface: fix / ignore clang-tidy warnings (#2227)
JeroenDM
authored
5136e39

Commits on Jul 31, 2020

Optimize includes (#2229)
mvieth
authored
ce67918

Commits on Aug 3, 2020

Remove unused yaml param (#2232)
AndyZe
authored
b0391a7
Check collisions during joint motions, too (#2204)
AndyZe
authored
a07cb8a

Commits on Aug 4, 2020

Fix subframes disappearing when object is detached/scaled/renamed (#1866)

authored
7d40d82

Commits on Aug 7, 2020

Fix memcpy bug in copyJointToOMPLState in ompl interface (#2239)
JeroenDM
authored
3f2924c

Commits on Aug 10, 2020

Commits on Aug 11, 2020

reorder and group clang-format options
rhaschke
committed
4d0b3ec
add new config options
rhaschke
committed
45d0b7e
Tweak penalties
rhaschke
committed
56c4fe1
Switch docker image to clang-format-10
rhaschke
committed
81ba724
Run clang-format on Noetic image (with clang-format-10 installed)
rhaschke
committed
70e0f83
apply changes
rhaschke
committed
f69a324
Migrate to clang-format-10
rhaschke
authored
7ad2bc7
A ROS service to reset the Servo status (#2246)
AndyZe
authored
3e4d3ac

Commits on Aug 12, 2020

Commits on Aug 13, 2020

Temporarily add moveit_resources to moveit.rosinstall
rhaschke
committed
88712bb
Merge pull request #2244 from ubi-agni/fix-robot-model-loading
v4hn
authored
9cd0ac3
Correctly set velocities to zero when stale (#2255)

rfn123
authored and
rhaschke
committed
589f83a

Commits on Aug 18, 2020

MP display: add units to joints tab (#2264)
v4hn
authored
ed3e196

Commits on Aug 19, 2020

Commits on Aug 21, 2020

Commits on Aug 26, 2020

Commits on Aug 27, 2020

Commits on Aug 28, 2020

Commits on Sep 3, 2020

[maint] Remove kinetic from Travis CI testing (#2295)
tylerjw
authored
2ac4db9

Commits on Sep 6, 2020

Temporarily add srdfdom to moveit.rosinstall
rhaschke
committed
4db7ccb

Commits on Sep 7, 2020

Revert "Temporarily add srdfdom to moveit.rosinstall"
rhaschke
committed
d4d1f66
Noetic docker files
rhaschke
committed
5a7b067
1.1.0

tylerjw
authored and
rhaschke
committed
3cc3633
MSA: only write default_planner_config field if any is selected (#2293)
v4hn
authored
0f2b88e

Commits on Sep 8, 2020

Replace panda_moveit_config -> moveit_resources_panda_moveit_config (#2300)
rhaschke
authored
8771af6

Commits on Sep 12, 2020

[maint] Remove patch status from codecov (#2306)
tylerjw
authored
736bb83

Commits on Sep 13, 2020

Update codeowners file (#2309)
felixvd
authored
089f983
[fix] Servo heap-buffer-overflow bug (#2307)
tylerjw
authored
a3516e6

Commits on Sep 15, 2020

Commits on Sep 16, 2020

Noetic was released (#2304)
v4hn
authored
6a5754b

Commits on Sep 17, 2020

Fix Servo thread interruption (#2314)
AndyZe
authored
336e13b

Commits on Sep 18, 2020

MGC: Improve exception messages (#2318)
v4hn
authored
91e1f09

Commits on Sep 22, 2020

Clean up Rviz Motion Planning plugin, add tooltips (#2310)

felixvd
and
rhaschke
authored
1825936

Commits on Sep 24, 2020

Commits on Sep 26, 2020

Adapt to API changes in geometric_shapes (#2324)
rhaschke
authored
1d8d51e

Commits on Sep 29, 2020

Workaround python3 issue with lxml.ElementTree.write()
rhaschke
committed
1af047c

Commits on Sep 30, 2020

Fix some more issues with create_ikfast_moveit_plugin.sh
rhaschke
committed
26c2bf6
Travis: default to Noetic
rhaschke
committed
a9e2fbc
IKFast: suppress unused-parameter warnings
rhaschke
committed
d120f5d
Remove custom copy-assignment operator for DistanceResultsData
rhaschke
committed
2954fa2
perception: add missing dependency to OpenMP
rhaschke
committed
99ceb7e
Silent deprecation warnings of gtest's typed test suites
rhaschke
committed
c2e3f27
Handle multiple link libraries for FCL (#2325)
rhaschke
authored
76ea533
Merge pull request #2327 from ubi-agni/fix-ikfask-tests
gavanderhoorn
authored
6eeee4b

Commits on Oct 1, 2020

Fix clang-tidy warning (#2334)
rhaschke
authored
89d63e8
MSA: Fix disappearing robot on change of reference frame (#2335)
rhaschke
authored
67a37cd
Fix some clang-tidy issues on Travis (#2337)
rhaschke
authored
a29a30c

Commits on Oct 2, 2020

[fix] Segfault when editing pose in moveit_setup_assistant (#2340)
tylerjw
authored
023b11d

Commits on Oct 4, 2020

Fix "Clear Octomap" button, disable when no octomap is published (#2320)
felixvd
authored
4788419

Commits on Oct 5, 2020

moveit_cpp: more informative error message, cover another potential failure condition. (#2336)
AndyZe
authored
9d917fb
MSA: Update RobotState *before* visualization
rhaschke
committed
c86394f
remove commented, copy-pasted code
rhaschke
committed
46a754a
Use PlanningScene's RobotState for postures
rhaschke
committed
865f0fd
Fix ROS namespacing in moveit_commander's PSI (#2347)
PeterMitrano
authored
c9785b6
Merge pull request #2348 from ubi-agni/msa-fix-poses
v4hn
authored
8889901
Reorder buttons in GroupEditWidgets
rhaschke
committed
7857649
Replace dummy QWidgets with QSpacerItems
rhaschke
committed
8b213d4
Use QStackedWidget instead of QWidget+QStackedLayout
rhaschke
committed
d41e4a4

Commits on Oct 6, 2020

Remove released upstream packages from docker files
rhaschke
committed
659489c
Increase minimal window size
rhaschke
committed
59fa491
Merge PR #2349: Fix MSA layout
rhaschke
authored
dbd9011
Cleanup Qt includes
rhaschke
committed
0cb8ec4
Cleanup ROS includes
rhaschke
committed
0642015
Remove diagnostics macros
rhaschke
committed
d8e77c2
Fix unused-parameter warnings
rhaschke
committed
c16e27d
MSA: Allow showing both, visual and collision geometry (#2352)
rhaschke
authored
b4e26cf
Merge PR #2351: [maint] Cleanup MSA includes
rhaschke
committed
7bad2f8

Commits on Oct 7, 2020

MSA: Fix group editing (#2350)
rhaschke
authored
06a601c

Commits on Oct 9, 2020

Commits on Oct 11, 2020

A library for servoing toward a moving pose (#2203)

AndyZe
and
AdamPettinger
authored
c938c9c

Commits on Oct 12, 2020

Depend on ros-noetic-fcl (0.6) in Noetic (#2359)
rhaschke
authored
e236475

Commits on Oct 13, 2020

Make GILReleaser exception-safe (#2363)
gleichdick
authored
c43b588
Changelogs for Noetic 1.1.1
tylerjw
committed
176a1d5
1.1.1
tylerjw
committed
f9b2e2b
Unit Test for ByteString-based ROS msg conversion (#2362)
gleichdick
authored
03c24d0

Commits on Oct 14, 2020

Python interface improvements. Fix #1966, add enforceBounds (#2356)

PeterMitrano
and
Peter
authored
73416fb

Commits on Oct 15, 2020

Fix ordering of windup args to control_toolbox::Pid (#2370)
nbbrooks
authored
b2b04b5

Commits on Oct 16, 2020

MSA launch files: fix indentation (#2371)
DLu
authored
e6ca319

Commits on Oct 18, 2020

Add test for PlanningContextManager in ompl interface (#2248)
JeroenDM
authored
144adb7

Commits on Oct 21, 2020

Update .github files (#2380)
DLu
authored
4dc9cee
Fix servo trajectory point timestamping (#2375)
Jere Liukkonen
authored
181f235

Commits on Oct 22, 2020

Change servo namespacing logic (#2354)
Jere Liukkonen
authored
1ebdb2d
Cleanup current state handling in servo (#2372)
tylerjw
authored
e337c08

Commits on Oct 26, 2020

Add test to ompl interface for StateValidityChecker (#2247)
JeroenDM
authored
225cb77

Commits on Oct 28, 2020

Fix broken documentation link in README (#2393)
auman66
authored
a461efe

Commits on Oct 31, 2020

Fix pose tracking race condition (#2395)

Jere Liukkonen
and
AndyZe
authored
d5dcc9d

Commits on Nov 3, 2020

Commits on Nov 4, 2020

Commits on Nov 6, 2020

[maint] Changelogs in pilz planner (#2408)
tylerjw
authored
0247ed0
Update collision-related comments (#2382) (#2388)

AndyZe
and
Ghenohenomohe
authored
09afa50

Commits on Nov 10, 2020

Fix empty sequence in moveit_setup_assistant (#2406)
DLu
authored
c616ef9

Commits on Nov 11, 2020

Move timer initialization down to fix potential race condition
AndyZe
committed
e8f1a4c

Commits on Nov 14, 2020

Changed processing_thread_ spin to use std::make_unique instead of new (#2412)
LegoYoda112
authored
7f647b0

Commits on Nov 16, 2020

[feature] Low latency mode (#2401)

tylerjw
and
AndyZe
authored
a15af07

Commits on Nov 18, 2020

Add Stargazer chart to README (#2417)
davetcoleman
authored
f56e175
Fix OrientationConstraint::decide (#2414)
stuart-fb
authored
bd53490

Commits on Nov 20, 2020

Commits on Nov 26, 2020

docker-source: support running clang-tidy (#2430)
archonixX
authored
ad8ce66

Commits on Nov 27, 2020

Delete CollisionRequest min_cost_density
AndyZe
committed
bdd4bde

Commits on Dec 8, 2020

Upgrade cmake_minimum_required to 3.1 (#2453)
rhaschke
authored
10d6380

Commits on Dec 9, 2020

RobotModelBuilder: Allow adding end effectors (#2454)
rhaschke
authored
7e1ccec
RobotModelBuilder: Add parameter to specify the joint rotation axis

JafarAbdi
authored and
rhaschke
committed
5d2549f
Fix validation of orientation constraints (#2434)

JafarAbdi
authored and
rhaschke
committed
253a217

Commits on Dec 17, 2020

Fix doxygen documentation for setToIKSolverFrame (#2461)

AndyZe
and
rhaschke
authored
97c0b28

Commits on Dec 18, 2020

Add an important sleep in Servo pose tracking (#2463)
AndyZe
authored
798b32f

Commits on Dec 21, 2020

Missing RViz and moveit_simple_controller_manager dependencies in MSA template (#2455)
DLu
authored
da926ac

Commits on Dec 22, 2020

Fix some typos in comments (#2466)
Udbhavbisarya23
authored
abb83f1

Commits on Dec 28, 2020

Catch exceptions during RobotModel loading in rviz (#2468)
Simon Schmeisser
authored
be0cbaf

Commits on Dec 31, 2020

Provide a function to set the position of active joints in a JointModelGroup (#2456)
Simon Schmeisser
authored
59a3724

Commits on Jan 6, 2021

Python3 compatibility for ikfast's round_collada_numbers.py (#2473)
Tobias-Fischer
authored
ac55f9e

Commits on Jan 7, 2021

[Servo] Fix initial angle error is always 0 (#2464)

authored
475e581

Commits on Jan 11, 2021

Fix RobotState::dropAccelerations/dropEffort to not drop velocities (#2478)
sevangelatos
authored
cc5d5a4

Commits on Jan 12, 2021

pilz planner: add string includes (#2483)
v4hn
authored
50e1960
Clean up collision-related log statements (#2480)
AndyZe
authored
680db65

Commits on Jan 13, 2021

Fix scaling factor parameter names (#2452)
ShotaAk
authored
0983cf9
Improve robustness of move group interface test (#2484)
bostoncleek
authored
e573a36

Commits on Jan 14, 2021

Suppress warnings "mesh_use_embedded_materials is ignored"
rhaschke
committed
a9c8f93

Commits on Jan 15, 2021

Improve robustness of subframes test (#2488)
bostoncleek
authored
664ae01

Commits on Jan 20, 2021

Use kinematics solver timeout if not specified otherwise (#2489)
martiniil
authored
960745c

Commits on Jan 22, 2021

Do not break out of loop -- need to update low pass filters (#2496)
AndyZe
authored
e322884
Protect paused_ flag, for thread safety (#2494)
AndyZe
authored
0e59113

Commits on Jan 27, 2021

Add missing dependency on joint_limits_interface (#2487)
ct2034
authored
74b3e30

Commits on Feb 4, 2021

Refactor Servo velocity bounds enforcement (#2471)

Jere Liukkonen
and
AndyZe
authored
8878682
resolved typo in first-timers-only.md (#2443)
pawanw17
authored
6512d98

Commits on Feb 11, 2021

Fix logic, improve function comment for clearDiffs() (#2497)
AndyZe
authored
ea50801

Commits on Feb 13, 2021

TrajOpt Planner (Empty Template) (#1478)
Omid Heidari
committed
14cce9e
added solve from tesseract.
omid1366
committed
260d4c5
updated resp req
omid1366
committed
70c6dbd
added trajopt_interface class

ommmid
authored and
omid
committed
4b84e17
changed the architectrue and used TrajoptInterface class to contain the solve function details. Created a TrajOptInterface object in TrajoptPlanningContext class instead
omid1366
committed
dc272df
added kinematic_terms
omid1366
committed
f5c954a
moved rotVec and concat from kinematics_term header to implementation
omid1366
committed
96a1e76
added panda_omple_planning
omid1366
committed
2f0aca2
addressed the comments
omid1366
committed
0375247
addressed some comments
omid1366
committed
1f4f13d
added kinematic DOF of the active joint model group to TrajOptProblem class
omid1366
committed
cab97a7
clang format
omid1366
committed
345d290
Added comments about initial trajectory
omid1366
committed
de90464
applied Henning's comments
omid1366
committed
23b9aca
added catkin ignore to ignore this package for now as it has dependencies. The next PR wont have any dependencies
omid1366
committed
c8f1011
addressed the comments
omid1366
committed
d119525
renamed hatch to addObjectiveTerms
omid1366
committed
a1d26be
addressed Dave's comments
omid1366
committed
9eb372b
added catkin_ignore
omid1366
committed
529cb65
prepare for merge
omid1366
committed
7d3c518
resolved conflicts
omid1366
committed
b7d5ec8
clang format
omid1366
committed
5b1017e
removed trajopt_test_support from package.xml
omid1366
committed
e708d4f
fixed travis errors
omid1366
committed
e19cb38
addressed Dave's comments
omid1366
committed
d469d04
Enable installing .hpp files

JafarAbdi
authored and
omid
committed
8a8ad3e
Fix catkin_lint errors

JafarAbdi
authored and
omid
committed
354d660
Update included header files - Correct namespace

JafarAbdi
authored and
omid
committed
73587fa
Update CMakeLists.txt

JafarAbdi
authored and
omid
committed
43e107c
Update package.xml

JafarAbdi
authored and
omid
committed
b798cd7
added README.md to trajopt package
omid
committed
8303c55
marked override
omid
committed
756a4cf
added the reference trajectory; before, it was hard-coded
omid
committed
8ec4425
find osqp locally
omid
committed
b01c9db
remove unlicensed binaries for BPMPD, make OSQP the default QP solver

mamoll
authored and
omid
committed
644c183
fixed license
omid
committed
6160670
clang format
omid
committed
096a511
correctedd num_steps in the loop
omid
committed
6da7a17
When using motion planning display in rviz, the reference trajectory is not set. Check this and warn the user if ref traj is empty
omid
committed
50b9b7b
run demo from panda_moveit_config befire running the test
omid
committed
b2622c2
Fixed the test. changed the type to interpolated.
omid
committed
c312079
clang format
omid
committed
8561c64
moved all the files from pand_mvoit_config and franka_description into the test
omid
committed
8698f52
Update moveit_planners/trajopt/trajopt/CMakeLists.txt

authored and
omid
committed
a01ce25
Update moveit_planners/trajopt/trajopt/CMakeLists.txt

authored and
omid
committed
9ccfc5f
Update moveit_planners/trajopt/trajopt/package.xml

authored and
omid
committed
748be0a
rebased
omid
committed
df0fdc6
osqp installed from trajopt_utils instead of trajopt_sco
omid
committed
53633ff
download osqp during configuration - from Jafar's PR
omid
committed
fae7dde
working on CollisionCost
omid
committed
08d177d
working on finding the right value for distances between collision objects. Contact type has a depth memeber but in tesseract, they use distance member in their ContactResult type
omid
committed
3fb27ff
adjusted more parts of the code for MoveIt but what is left is how I calculate cc_nearest_points in MoveIt, Contact type does not have such a thing
omid
committed
9519236
start adding collision temrs
omid
committed
30b4cb0
changed header extension
omid
committed
cf1a0af
adjusted CalcCollisions and CollisionstoDistance and CollisionsToDistanceExpressions
omid
committed
b1fb905
no tesseract but the functionality should be tested
omid
committed
b3dab65
clean
omid
committed
0e167b1
replace GetKin() with GetPlanningScene
omid
committed
08fc623
comment
omid
committed
15b40b5

Commits on Feb 15, 2021

added a conversion between Contact from MoveIt and ContactResult from tesseract
omid
committed
96b9e08
test
omid
committed
83dd551

Commits on Feb 16, 2021

use PlanningScene
omid
committed
bb46e3a

Commits on Apr 30, 2021

implemented planning scene for collision term too. It seems to be correct. Just used it with FCL and singletimestep not continous collision checking yet.
ommmid
committed
7417866

Commits on May 2, 2021

woo-hoo! Now CollisionTermInfo of trajopt is implemented.
ommmid
committed
1a28fa3