moveit2

moveit2 copied to clipboard

Add planner configurations to CHOMP and PILZ

1

### Description Right now it is not possible to use planners other than OMPL with the moveit_cpp interface. The reason for this is the following: When the plan() method of...

sjahr

Parallel planning pipelines

2

## Description This PR adds a first implementation of @mamoll proposal in #1200 to run multiple planning pipelines in parallel to improve the path quality through creating multiple solutions and...

sjahr

WIP: HPP FCL Plugin

2

Adresses #1435 by creating a new hpp-fcl plugin for MoveIt. Binaries of hpp-fcl are due to be available on tomorrow's sync so I would wait for that at least.

vatanaksoytezer

Only require Cartesian limits if Pilz is used

1

### Description Attempt to solve https://github.com/ros-planning/moveit2/issues/1328 by checking if Pilz is being used before trying to load pilz_cartesian_limits.yaml. If Pilz is not being used, there shouldn't be a need to...

stephanie-eng

MSA: write the default controller namespace

2

### Description MoveIt Setup Assistant should write the controller namespace to the yaml file, like this: ``` arm_controller: type: FollowJointTrajectory action_ns: follow_joint_trajectory joints: - J1 ... - J6 ``` Fixes...

AndyZe

Parameters that are nearly always the same values should not be required to be part of a moveit config

2

MoveIt has way too many parameters and in most cases, many of the parameters are always the same between MoveIt configs. These parameters should be identified, have defaults set in...

tylerjw

robot_description parameter syncing

1

A single node should receive the robot_description config and all other nodes that share the need for that parameter should get it from that one node. The way this works...

tylerjw

Free functions for calculating properties of trajectories

2

Co-authored-by: Sebastian Jahr Signed-off-by: Tyler Weaver

tylerjw

As reported in issue #1506, the default `moveit_controllers.yaml` created by MSA is missing a few lines: ``` action_ns: follow_joint_trajectory default: true ```

AndyZe

CHOMP optimizer exits after first iteration as collision-free

4

### Description I've been trying to use CHOMP to post-process some trajectories, but I found it was always exiting after the first iteration, despite having a collision cost over the...

stephanie-eng