Sync with MoveIt #1151

Abishalini · 2022-03-29T21:26:56Z

Description

Sync the following commits from MoveIt

*   [2022-01-17] [424a5b7b8] | Merge PR #2938: Rework ACM {{Robert Haschke}} 
|\  
| * [2022-01-17] [024e663b9] | CI: Fetch srdfdom from source {{Robert Haschke}} 
| * [2021-12-28] [2a6641392] | Move MoveItConfigData::setCollisionLinkPairs to collisions_updater.cpp {{Robert Haschke}} 
| * [2021-12-28] [47a66152d] | Unify initialization of ACM from SRDF {{Robert Haschke}} 
| * [2021-12-22] [6679901a7] | Adapt to API changes in srdfdom {{Robert Haschke}} 
| * [2021-11-02] [66066b52a] | ACM:print(): show default value {{Robert Haschke}} 
| * [2021-10-31] [e44e8e291] | Adapt message passing of AllowedCollisionMatrix {{Robert Haschke}} 
| * [2021-10-31] [9c7d8dde2] | Optimization: Check for most common case first {{Robert Haschke}} 
| * [2021-10-30] [cb1ea39fb] | Add comment to prefer setDefaultEntry() over setEntry() {{Robert Haschke}} 
| * [2021-10-30] [341e71d29] | ACM: specific pair entries take precedence over defaults {{Robert Haschke}} 
| * [2021-10-30] [9e268e793] | Improve formatting of comments {{Robert Haschke}} 
| * [2021-10-30] [2c9d26b58] | Don't fill all ACM entries by default {{Robert Haschke}} 
| * [2021-10-30] [a956b2ae5] | Adapt to API changes in srdfdom {{Robert Haschke}} 
* | [2022-01-14] [7da00c19b] | Fix CI: update apt packages before install {{Robert Haschke}} 
* | [2022-01-07] [ea86018d2] | MSA: Add STOMP + OMPL-CHOMP configs (#2955) {{Rick Staa}} 
* | [2022-01-06] [834ebb9e9] | Make TimeParameterization classes polymorphic (#3021) {{Jafar Abdi}} 
* | [2022-01-06] [30139c155] | Fix wrong transform in distance fields' determineCollisionSpheres() (#3022) {{Martin Oehler}} 
* | [2022-01-04] [ac6b7d6be] | Fix deprecation warning in moveit_cpp (#3019) {{Jeroen}} 
* | [2021-12-31] [2a71c9c93] | collision_distance_field: Fix undefined behavior vector insertion (#3017) {{Jafar Abdi}} 
* | [2021-12-31] [155eefa46] | 1.1.7 {{Robert Haschke}}  (tag: 1.1.7)
* | [2021-12-29] [890a80e31] | Disable slow robot_interaction tests in DEBUG mode (#3014) {{Michael Görner}} 
|/  
*   [2021-12-28] [b02e90e71] | Merge PR #3013: MSA cleanup {{Robert Haschke}} 
|\  
| * [2021-10-29] [a334d8b6a] | Modernize loops {{Robert Haschke}} 
| * [2021-10-29] [a47e2c70a] | Pass xacro_args to both, urdf and srdf loading {{Robert Haschke}} 
* | [2021-12-28] [1249c2b18] | Move MoveItErrorCode class to moveit_core (#3009) {{Jafar Abdi}} 
|/  
* [2021-12-28] [872d33dd2] | Disable (flaky) timing tests in DEBUG mode (#3012) {{Robert Haschke}} 
* [2021-12-28] [dffc178a7] | RobotState::attachBody: Migrate to unique_ptr argument (#3011) {{pvanlaar}}

Checklist

Required by CI: Code is auto formatted using clang-format
Extend the tutorials / documentation reference
Document API changes relevant to the user in the MIGRATION.md notes
Create tests, which fail without this PR reference
Include a screenshot if changing a GUI
While waiting for someone to review your request, please help review another open pull request to support the maintainers

... to indicate transfer of ownership and simplify pointer handling

... reducing code duplication and facilitating re-use

Reverts c72a857

... because the former will consider future collision entries as well.

- Serialize full current state (previously pairs with a default, but no entry were skipped) - Only initialize matrix entries that deviate from the default.

@v4hn

@v4hn requested splitting of collision_pairs into (re)enabled and disabled.

This method is only used there to update disabled collision entries.

These tests are known to run for a very long time in debug builds. So let's disable them in this case. If you still insist to run them, you can do so via `locked_robot_state_test --gtest_also_run_disabled_tests`

…veit#3017) Co-authored-by: andreas-botbuilt <94128674+andreas-botbuilt@users.noreply.github.com>

Fixup for moveit#3009.

…oveit#3022)

- Add stomp planner to MSA - Add OMPL-CHOMP planner to MSA - Remove obsolete CHOMP parameters - Update CHOMP config parameters to match code defaults - Create CHOMP config via template (instead of code) Co-authored-by: Robert Haschke <rhaschke@techfak.uni-bielefeld.de>

Implement ACM defaults as a fallback instead of an override. Based on moveit/srdfdom#97, this allows disabling collisions for specific links/objects by default and re-enabling individual pairs if necessary.

mergify · 2022-03-29T21:27:29Z

This pull request is in conflict. Could you fix it @Abishalini?

codecov · 2022-04-04T17:28:35Z

Codecov Report

Merging #1151 (0ce1c29) into main (867aa49) will decrease coverage by 0.12%.
The diff coverage is 51.55%.

@@            Coverage Diff             @@
##             main    #1151      +/-   ##
==========================================
- Coverage   61.41%   61.29%   -0.11%     
==========================================
  Files         271      274       +3     
  Lines       24754    24749       -5     
==========================================
- Hits        15200    15168      -32     
- Misses       9554     9581      +27

Impacted Files	Coverage Δ
...lude/moveit/collision_detection/collision_matrix.h	`100.00% <ø> (ø)`
...it/collision_detection/test_collision_common_pr2.h	`100.00% <ø> (ø)`
...bot_state/include/moveit/robot_state/robot_state.h	`89.96% <ø> (ø)`
...cessing/src/time_optimal_trajectory_generation.cpp	`89.67% <ø> (-0.03%)`	⬇️
..._core/collision_detection/src/collision_matrix.cpp	`37.56% <42.00%> (-5.18%)`	⬇️
moveit_core/robot_state/src/robot_state.cpp	`47.28% <53.85%> (-0.28%)`	⬇️
.../collision_detection/test_collision_common_panda.h	`98.73% <100.00%> (-0.03%)`	⬇️
...tance_field/src/collision_distance_field_types.cpp	`34.79% <100.00%> (ø)`
moveit_core/planning_scene/src/planning_scene.cpp	`48.84% <100.00%> (-0.21%)`	⬇️
...ory_processing/iterative_spline_parameterization.h	`100.00% <100.00%> (ø)`
... and 8 more

Continue to review full report at Codecov.

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JafarAbdi

LGTM, not sure what's wrong with clang-tidy

pvanlaar and others added 27 commits December 28, 2021 08:46

RobotState::attachBody: Migrate to unique_ptr argument (moveit#3011)

dffc178

... to indicate transfer of ownership and simplify pointer handling

Disable (flaky) timing tests in DEBUG mode (moveit#3012)

872d33d

Pass xacro_args to both, urdf and srdf loading

a47e2c7

Modernize loops

a334d8b

Move MoveItErrorCode class to moveit_core (moveit#3009)

1249c2b

... reducing code duplication and facilitating re-use

Merge PR moveit#3013: MSA cleanup

b02e90e

Adapt to API changes in srdfdom

a956b2a

Don't fill all ACM entries by default

2c9d26b

Improve formatting of comments

9e268e7

ACM: specific pair entries take precedence over defaults

341e71d

Reverts c72a857

Add comment to prefer setDefaultEntry() over setEntry()

cb1ea39

... because the former will consider future collision entries as well.

Optimization: Check for most common case first

9c7d8dd

Adapt message passing of AllowedCollisionMatrix

e44e8e2

- Serialize full current state (previously pairs with a default, but no entry were skipped) - Only initialize matrix entries that deviate from the default.

ACM:print(): show default value

66066b5

Adapt to API changes in srdfdom

6679901

@v4hn requested splitting of collision_pairs into (re)enabled and disabled.

Unify initialization of ACM from SRDF

47a6615

Move MoveItConfigData::setCollisionLinkPairs to collisions_updater.cpp

2a66413

This method is only used there to update disabled collision entries.

Disable slow robot_interaction tests in DEBUG mode (moveit#3014)

890a80e

These tests are known to run for a very long time in debug builds. So let's disable them in this case. If you still insist to run them, you can do so via `locked_robot_state_test --gtest_also_run_disabled_tests`

1.1.7

155eefa

collision_distance_field: Fix undefined behavior vector insertion (mo…

2a71c9c

…veit#3017) Co-authored-by: andreas-botbuilt <94128674+andreas-botbuilt@users.noreply.github.com>

Fix deprecation warning in moveit_cpp (moveit#3019)

ac6b7d6

Fixup for moveit#3009.

Fix wrong transform in distance fields' determineCollisionSpheres() (m…

30139c1

…oveit#3022)

Make TimeParameterization classes polymorphic (moveit#3021)

834ebb9

Fix CI: update apt packages before install

7da00c1

CI: Fetch srdfdom from source

024e663

Merge PR moveit#2938: Rework ACM

424a5b7

Implement ACM defaults as a fallback instead of an override. Based on moveit/srdfdom#97, this allows disabling collisions for specific links/objects by default and re-enabling individual pairs if necessary.

Abishalini force-pushed the pr-sync-424a5b7b8 branch from 5601a06 to 9c61ebf Compare March 30, 2022 18:53

Abishalini marked this pull request as ready for review March 30, 2022 18:54

Abishalini requested a review from henningkayser March 30, 2022 18:54

Abishalini mentioned this pull request Mar 31, 2022

Add srdfdom to moveit.repos #1155

Closed

6 tasks

Abishalini force-pushed the pr-sync-424a5b7b8 branch 2 times, most recently from 3ed91c9 to 4b20a59 Compare April 1, 2022 17:58

vatanaksoytezer mentioned this pull request Apr 1, 2022

Don't merge: Remove srdfdom from ci docker and trigger a docker build #1160

Closed

Abishalini force-pushed the pr-sync-424a5b7b8 branch 2 times, most recently from 705da08 to 01e67c1 Compare April 4, 2022 15:33

Merge moveit/moveit@424a5b7

f7c59a7

Abishalini force-pushed the pr-sync-424a5b7b8 branch from 01e67c1 to f7c59a7 Compare April 4, 2022 17:38

JafarAbdi mentioned this pull request Apr 4, 2022

Make TimeParameterization classes polymorphic #1012

Closed

6 tasks

JafarAbdi approved these changes Apr 4, 2022

View reviewed changes

JafarAbdi mentioned this pull request Apr 5, 2022

Fix prbt_ikfast win compilation #1161

Merged

6 tasks

Suppress clang tidy warning performance-no-int-to-ptr

0ce1c29

vatanaksoytezer approved these changes Apr 5, 2022

View reviewed changes

vatanaksoytezer merged commit 0ce1c29 into moveit:main Apr 5, 2022

Abishalini deleted the pr-sync-424a5b7b8 branch April 5, 2022 18:03

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Sync with MoveIt #1151

Sync with MoveIt #1151

Abishalini commented Mar 29, 2022 •

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Sync with MoveIt #1151

Sync with MoveIt #1151

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Abishalini commented Mar 29, 2022 • edited Loading

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Abishalini commented Mar 29, 2022 •

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