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Enhancement/moveit ros1 ports #3041

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merged 5 commits into from
Oct 28, 2024
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TSNoble
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@TSNoble TSNoble commented Oct 24, 2024

Description

This PR ports the following ROS1 PRs to moveit2:

More in-depth descriptions can be found on those pull requests, however, for summary:

  • Modifies MoveGroupInterace to use a moveit_msgs::msgs::RobotSate as the considered_start_state_

    • This prevents unnecessary conversions to and from message types when planning
    • This allows start states to be set using RobotState diffs to avoid passing around large messages
    • Public methods are modified to continue returning robot_state::RobotStatePtr to avoid breaking changes
  • Disables updating of attached collision objects when updating states during a pilz sequence motion

    • This prevents unnecessary copying of attached collision objects, which do not change throughout a sequence plan
    • This fixes a bug where the poses of attached collision objects accumulate error throughout a sequence plan

I've more-or-less copied the changes from those PRs in verbatim, so if there are differences in moveit2 that need to be taken into account, let me know and I'll make them.

Checklist

  • Required by CI: Code is auto formatted using clang-format
  • Extend the tutorials / documentation reference (No changes to user-facing functionality)
  • Document API changes relevant to the user in the MIGRATION.md notes (preserves existing API)
  • Create tests, which fail without this PR reference (Modifies implementation details. Should preserve existing test behaviour)
  • Include a screenshot if changing a GUI (No GUI changes)
  • While waiting for someone to review your request, please help review another open pull request to support the maintainers

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Thanks for porting this over @TSNoble! Looks like there are still some build failures but that should be easy to address and once that is done, we can merge this!

@TSNoble TSNoble requested a review from sjahr October 26, 2024 11:26
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TSNoble commented Oct 26, 2024

@sjahr Thanks for running the workflows again. I'm unsure if the test failures are related to this PR?

@sjahr sjahr enabled auto-merge October 28, 2024 09:45
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Retriggered the Jazzy CI since the failure appears to be unrelated to this PR

@sjahr sjahr added this pull request to the merge queue Oct 28, 2024
Merged via the queue into moveit:main with commit 02ebcba Oct 28, 2024
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@sea-bass sea-bass added the backport-humble Mergify label that triggers a PR backport to Humble label Nov 21, 2024
mergify bot pushed a commit that referenced this pull request Nov 21, 2024
* Ports moveit/moveit#3592

* Ports moveit/moveit#3590

* Fixes compile errors

---------

Co-authored-by: Sebastian Jahr <sebastian.jahr@picknik.ai>
(cherry picked from commit 02ebcba)

# Conflicts:
#	moveit_ros/planning_interface/move_group_interface/src/move_group_interface.cpp
sea-bass pushed a commit that referenced this pull request Nov 21, 2024
* Enhancement/moveit ros1 ports (#3041)

* Ports moveit/moveit#3592

* Ports moveit/moveit#3590

* Fixes compile errors

---------

Co-authored-by: Sebastian Jahr <sebastian.jahr@picknik.ai>
(cherry picked from commit 02ebcba)

# Conflicts:
#	moveit_ros/planning_interface/move_group_interface/src/move_group_interface.cpp

* Accepts all incoming changes. (#3120)

* Fixes member names (#3121)

---------

Co-authored-by: Tom Noble <53005340+TSNoble@users.noreply.github.com>
Co-authored-by: Mark Johnson <104826595+rr-mark@users.noreply.github.com>
Co-authored-by: Tom Noble <t.s.noble@outlook.com>
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4 participants