Tyler Weaver

Composable MotionPlanRequest functions

1

This class: https://github.com/ros-planning/moveit2/blob/main/moveit_ros/planning/moveit_cpp/include/moveit/moveit_cpp/planning_component.h This class builds a `::planning_interface::MotionPlanRequest` through a bunch of setters that modify the internal state of `PlanningComponent` and then the `plan()` function combines those into the request...

Const as much as possible

3

https://github.com/cpp-best-practices/cppbestpractices/blob/master/04-Considering_Safety.md#const-as-much-as-possible

Refactoring and Testing Calculations

3

### Need As a user of MoveIt I want routines for calculations to be separated from side-affect-causing code so it can be re-used and tested easily. ### Acceptance 4 PRs...

Interfaces Use Strong Types for Parameters

12

### Need As a developer using MoveIt; I want MoveIt to have expressive interfaces that can only be used correctly. ### Acceptance A PR is merged into moveit_core that introduces...

Get rid of “new”

2

https://github.com/cpp-best-practices/cppbestpractices/blob/master/08-Considering_Performance.md#get-rid-of-new

Use C++-style cast instead of C-style cast

1

https://github.com/cpp-best-practices/cppbestpractices/blob/master/04-Considering_Safety.md#use-c-style-cast-instead-of-c-style-cast

Remove collision objects as final step

2

Signed-off-by: Tyler Weaver This is useful because if you write a stage that detaches and removes an object it does not perform as you'd expect.

Generate params for ForceTorqueSensorBroadcaster

2

Signed-off-by: Tyler Weaver Another PR to adapt a controller to use GenerateParameterLibrary

Generate parameters for IMU Sensor Broadcaster

3

Signed-off-by: Tyler Weaver generate_parameter_library for imu_sensor_bradcaster

Generate params for ForwardCommandController

1

Signed-off-by: Tyler Weaver Depends on this PR: https://github.com/PickNikRobotics/generate_parameter_library/pull/28