[MSA] Merge main into feature/msa (Part III) #1249
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- Downgrade ERROR to WARN - Report affected joint name - Quote (possibly empty) planner id
When planning an arm motion, Pilz's PTP planner shouldn't complain (and bail out) on missing joint limits of hand joints!
Just complain about negative / zero values.
Otherwise, on a failure, the implicitly used success() will skip the step.
Gazebo requires a fixed joint from world to the first robot link. This resembles the virtual_joint of SRDF. However, the RobotModel parser issues the following warning: Skipping virtual joint 'xxx' because its child frame 'xxx' does not match the URDF frame 'world'
Fixes the following error (occurring since 61d18f2) ``` [FATAL] ros.moveit_ros_planning.trajectory_execution_manager: Exception while loading controller manager 'robot': According to the loaded plugin descriptions the class robot with base class type moveit_controller_manager::MoveItControllerManager does not exist. ``` As we introduced `pass_all_args="true"`, the value of the argument `moveit_controller_manager` was the robot name.
There are 3 basic MoveIt controller manager plugins: - fake = `moveit_fake_controller_manager::MoveItFakeControllerManager` Used in demo.launch. Doesn't really control the robot, but just interpolates between via points. Allows these execution_types: - via points: just jumps to the via points - interpolate: linearly interpolates between via points (default) - last point: jumps to the final trajectory point (used for fast execution testing) - ros_control = `moveit_ros_control_interface::MoveItControllerManager` Interfaces to ros_control controllers. - simple = `moveit_simple_controller_manager/MoveItSimpleControllerManager` Interfaces to action servers for `FollowJointTrajectory` and/or `GripperCommand` that in turn interface to the low-level robot controllers (typically based on ros_control) However, so far move_group.launch distinguished between `fake` and `robot` only. The argument moveit_controller_manager now allows switching between all 3 variants. Adding more *_moveit_controller_manager.launch files allows for an extension of this scheme.
- Reading both, the default and the existing package's sensors_3d.yaml
into the config, the config file was growing by 2 configs each time.
- Not visiting the Perception tab, was writing the default config with 2 entries
- Selecting "None" was writing an invalid config:
sensors:
- {}
- {}
We should write separate controller config files for different controller managers: - simple_moveit_controllers.yaml handles everything relevant for SimpleMoveItControllerManager - ros_controllers.yaml handles ros_control config - gazebo_controllers.yaml handles controllers required for Gazebo
- Provide all types of JointTrajectoryController as well as FollowJointTrajectory and GripperCommand (use by simple manager) - Use effort_controllers/JointTrajectoryController as default - Create FollowJointTrajectory entries for any JointTrajectoryController
This will facilitate re-use of demo.launch.
Signed-off-by: Tyler Weaver <tylerjw@gmail.com>
Signed-off-by: Gaël Écorchard <gael.ecorchard@cvut.cz>
…eit#1218) Co-authored-by: Jafar <cafer.abdi@gmail.com>
Co-authored-by: jeoseo <jeongwooseo2012@gmail.com>
…ion algorithm (moveit#1195) * A new function for common time-param calculations * Flesh out the second computeTimeStamps function * Reading of the custom limits * Add a unit test * Revert comment changes about exceptions * Small efficiency improvements * Add computeTimeStamps() overload to the base class Co-authored-by: Jafar <cafer.abdi@gmail.com>
…1221) * Move common functionality to utility functions * Add a utility function to read RobotModel bounds * Add a unit test for the new version of computeTimeStamps() * Clean up Doxygen * Use ruckig::DynamicDOFs everywhere
Co-authored-by: AndyZe <zelenak@picknik.ai>
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Codecov Report
@@ Coverage Diff @@
## feature/msa #1249 +/- ##
===============================================
+ Coverage 59.13% 61.26% +2.14%
===============================================
Files 275 274 -1
Lines 23732 24929 +1197
===============================================
+ Hits 14032 15271 +1239
+ Misses 9700 9658 -42
Continue to review full report at Codecov.
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