Dave Coleman
Dave Coleman
I've opened this PR against MoveIt2: https://github.com/ros-planning/moveit2_tutorials/pull/87
Yes, I certainly agree we want to move towards unifying Cartesian planners as full fledged motion planners in moveit.
@felixvd can you add that comment and then confirm this is still good to merge?
> Maybe @davetcoleman or @v4hn can confirm that the `Transforms` should obey our usual `diff` approach as well (which they didn't do in the past) I cannot confirm - I...
> I came out with a conclusion that we shouldn't remove SceneTransforms @JafarAbdi should this PR closed? Or at least upated to "WIP"?
@AndyZe @j-petit I love the idea of simplifying the code by only having one CollisionRequest type!
@DLu where did this PR end up? Increasing test coverage is always good!
@tylerjw is this WIP? Can you update the title as such?
@tkelestemur can you link us to the code you wrote for GPD, even if its a mess? It might serve as a good starting point for a cleaned up version.