ros-planning
Enable collisions visualization
Adds a new method appendMarkers to append markers to solutions.
Introduces a utility function collectInvalidStateMarkers to collect invalid state markers from trajectories.
Adds the collection of collisions in the conect stage code if the motion plan is invalid.
There is a fundamental issue with this: markers are global to a solution. However, collision markers should be local in time, shouldn't they?
Actually, collision markers are only part of the connect stage, where they are being added.
There is a fundamental issue with this: markers are global to a solution. However, collision markers should be local in time, shouldn't they?
Actually, collision markers are only part of the connect stage, where they are being added.
You misunderstood me: markers are stored per sub trajectory of a solution, e.g. per solution of the connect stage. However, this (failed) solution has multiple waypoints and collisions for all of them are visualized simultaneously using this approach. On the other hand, it was done this way in MoveIt for years as well...
There is a fundamental issue with this: markers are global to a solution. However, collision markers should be local in time, shouldn't they?
Actually, collision markers are only part of the connect stage, where they are being added.
You misunderstood me: markers are stored per sub trajectory of a solution, e.g. per solution of the connect stage. However, this (failed) solution has multiple waypoints and collisions for all of them are visualized simultaneously using this approach. On the other hand, it was done this way in MoveIt for years as well...
Okey, I understand it now.
Hello! I was wondering if there is any reason why this hasn't been merged yet. If there's anything I can do to help move it forward, please let me know!
Originally, CI failed for unrelated reasons. This seems to be fixed now. However, now we have a merge conflict. Can you please resolve that?
Originally, CI failed for unrelated reasons. This seems to be fixed now. However, now we have a merge conflict. Can you please resolve that?
Okay! I've resolved the merge conflict and it should be fixed now
Yes, there were a few other improvements necessary: mainly visualizing collisions from any planning stage, not only Connect. However, it was simpler to implement them directly instead of guiding you through the process.
Unfortunately, I just found time for this today. Sorry for the delay.
As we will only merge against branches master or ros2, I'm going to close this PR here in favor of #708.