moveit_task_constructor

moveit_task_constructor copied to clipboard

Add creator stage name to SolutionInfo

13

In #162 , @v4hn suggested the option of executing the solution sequentially to execute custom functions. We tried using this in an application, but when stepping through the solution's subtrajectories,...

felixvd

- How should we handle multiple solutions for a given pair of (start, end) states? Report all? Only the best one? Make it configurable? - Priority updates should only decrease...

rhaschke

Scheduling

2

This [ZenHub](https://www.zenhub.com/extension) epic is used to collect ideas and (later) concrete TODOs for a rework of scheduling. The current "round-robin" scheduling, requires hierarchically calling `canCompute()` and `compute()` and the whole...

rhaschke

It has to be proven highly important to replace `onNewFailure()` with `onExhaustiveFailure()` to make pruning and Fallbacks actually work correctly. ### When are specific stage types exhausted? - generator: if...

rhaschke

This epic collects open TODOs regarding pruning. - [ ] Pruning should propagate through `MonitoringGenerators`. Assuming the following pipeline: ``` GEN FW (monitored) ... BW MonGEN FW ``` If stages...

rhaschke

rviz interaction

8

I'm struggling with some design decisions. 1. Relationship of rviz Panel and Display As discussed at ROSCon, having multiple displays and a unique panel poses some challenges: 1. Do we...

rhaschke

Implement generic pose randomizer

2

This extension of `GeneratePose` allows setting random distribution samplers for each pose dimension (x,y,z,roll,pitch.yaw). Currently, only `std::uniform_real_distribution` and `std::normal_distribution` are supported. I wasn't sure if this should maybe go into...

henningkayser

Only check end effector collisions for target pose in ComputeIK

9

Fixes false positive collisions of links/objects unrelated to the (rigidly extended) end effector. This includes collisions between objects or secondary groups and root links caused by the added padding. Common...

henningkayser

Set max cartesian end-effector speed in planning pipeline

5

Enable trajectory post-processing in planning pipeline to set maximum cartesian end-effector speed. Requires following to be merged: - https://github.com/ros-planning/moveit/pull/2856 - https://github.com/ros-planning/moveit_msgs/pull/130 How to use? Instead of ``setProperty("max_velocity_scaling_factor", velocity);``, use: ```...

gautz

support modifying wrappers in user stages

5

Possible features that require this interface might be - trajectory reparameterization, - trajectory optimization as post-processing (like MoveIt's CHOMP adapter), - multi-trajectory blending (similar to Pilz' sequence planner) [Here](https://github.com/v4hn/mtc_examples/blob/0346765dbb7eb8d6985cda9355aea1566becc658/src/modifying_wrapper.cpp) is...

v4hn