changes in cmakelist to read the localy installed osqp #3
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... which was broken in 3e8feeb (moveit#1439)
* Add pseudo experiment all_experiments to allow comparing all entries * Expose loadBenchmarkQueryData() for setting up custom queries * Add benchmark entry for comparing the 'final' result trajectory Different planners don't always use the same description pattern in their MotionPlanDetailedResponse. This makes it difficult to compare benchmark results. This adds an extra field where all values of the last solution trajectory are stored. * Add trajectory similarity function to measure repeatability * Address requested changes * Fill empty fields in all_experiments * Improve variable and function names * Add helper function computeTrajectoryDistance()
…eit#1468) Use special suddenHalt() function to stop at critical issues. Otherwise, e.g. if no new commands are received, use filtered deceleration.
Switch from Motoman to UR5 example. Add quick start instructions in README
* favor CMAKE_CXX_STANDARD to enforce c++14 * update all cmake_minimum_required usage
They constitute the main functionality of the class, so it makes sense to wait.
Hide joint state controller option in controllers screen and improve documentation
* Make jog_arm an own package located in the moveit_experimental folder. * adapt package location * minor cleanup
replace the gcc extension and alternative operator usage Also guard use of Linux-specific abi header
in problem_description, added comments anout term_type added ProblemInfo, TermInfo, InitInfo, BasicInfo in kinematic_terms, added operator() added ConstructProblem added some param for problem_info
in problem_Description, added term_type used MotionPlaneRequest from planning_interface instead that of moveit_msgs for solve function input added generateInitiaTrajectory added basic_info to problem_info
added checkParameterSize function in problem_description added JointPoseTermInfo::hatch in problem_description added res.error.code.val to check the request in trajopt_interface.cpp convert req.goal_constraint to JointPoseTermInfo in trajopt_interface.cpp feed the response with the trajopt solution in trajopt_interface.cpp remove comments from trajopt_planning_context.cpp
fixed start state corrected the yaml file multiple joint constraints
leave setup assistant changes for later on another PR cleaned up test_trajopt added unittest
… class added name_ for ROS_DEBUG_STREAM_NAMED addressed the comments moved launch file to moveit_tutorial moved yaml file to panda_moveit_config used bullet for collision checking
changed my email address renamed rotVec and concat added tesseract license
…cies. The next PR wont have any dependencies
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* A library for servoing toward a moving pose * Use the control_toolbox version of PID control * Minor cleanup after switching to control_toolbox PID * Use default ROS1 library type * Decrease the default windup limit * Add a basic unit test * Add orientation tracking, too * Warning if no target pose is provided * One PID for orientation instead of 3 * A different method of ensuring a new target pose is received * Multithread the test pose publisher * Correct service namespaces * Clang format and clang tidy * Minor tweaks for CI * Add function to update PID settings * Add a method to get PID errors * Be consistent with service namespacing This is important if there are multiple arms Servoing simultaneously * Address Adam's more minor comments * First attempt at using pose tracking * Small updates to launch files and CMakeLists * Address Andy comments * Get Pose Tracking demo working (#3) * Rework command frame name and target pose * Add EE frame tf and make it available thru C++ interface * Pass getEEFrameTransform thru PoseTracking * Update TF calcs at servo start * Modify pose demo to move slightly from current position * Make PoseTracking use EE tf instead of command frame tf * Clean up the demo * Make helper func for converting eigen to tf message * Make the Servo instance public, to access functions like setPaused() * Use an enum class for status codes, so entries can be duplicated * Add a timeout argument * Clang format * Fix a race condition with initial joint reception * Update config file for testing * Wrap tf lookup in a try/catch block * Use a tf2 utility for Eigen->msg conversion * Explicitly initialize transforms to zero * More robust test setup * Update the command frame at runtime * Update angular PID configs, too * Properly wait for test setup Co-authored-by: AdamPettinger <adam.pettinger@utexas.edu>
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