Henning Kayser
Henning Kayser
This implements preparative steps to enable mobile base trajectory execution using ros2_control JTC. In particular, these changes convert mdof trajectories into joint trajectories using the local variables which in turn...
I thought we had done this already for main, but obviously this was not the case. Iron should also be enforced for PRs.
There are two somewhat major complaints around how we do clang-tidy testing: 1. [We are missing clang-tidy fixes when changing the config, since we are only testing diffs](https://github.com/ros-planning/moveit2/pull/2177#issuecomment-1559586482) 2. We...
STOMP currently categorizes trajectories as invalid if they produce any penalty cost. This prevents us from optionally optimizing waypoints inside a valid constraint space, let's say for hitting position targets...
I ran into an issue where several integration tests using Gazebo caused a memory conflict resulting in the test runs being blocked and to fail. By limiting the number of...
Following the tutorial and README the `panda_grasp_data.yaml` should contain a rosparam for loading the file `load_panda.launch`. The *demo.launch files also load `moveit_grasps_config.yaml`. Since both are missing from `load_panda.launch` should we...
The MoveIt website is already hosted at https://moveit.ai while moveit.ros.org should redirect to the new location. There are still a couple open changes to complete migration, which should probably be...
We are currently deploying the [API docs](https://moveit.picknik.ai/main/doc/api/api.html) by first [building the pages in separate build jobs](https://github.com/ros-planning/moveit2_tutorials/blob/main/.github/workflows/deploy.yml#L69) (including Doxygen and Python autodocs API) and then [copying the build artifacts into the...
This enables running Panda with Gazebo. Currently, I've only tested this with [jammy-humble](https://github.com/moveit/moveit2_packages/tree/jammy-humble), ~~I'm still working on Rolling compatibility~~ Turns out, the latest Rolling sync does not include the required...