Development towards 4.0.0 #57
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* Added functions to enable/disable collisions with an object vis the allowed collision matrix * Clarified function name, reduced replicated code * Made toggling collisions async * Fix type annotations for consistency * formatting * Added tests * Spelling * Update docstring * Fix unnecessary change
…fector_link` when available (#56) * Update msg * Use `cartesian_speed_limited_link` instead of `cartesian_speed_end_effector_link` when available Signed-off-by: Andrej Orsula <orsula.andrej@gmail.com> --------- Signed-off-by: Andrej Orsula <orsula.andrej@gmail.com> Co-authored-by: Apurv Saha <apurv.robotics@gmail.com>
* added re-use of max_velocity_scaling_factor and max_acceleration_scaling_factor from move_action goal to cartesian_path_request * Removed getter and setter of 'max_cartesian_speed' to avoid confusion as the corresponding value of the MotionPlanRequest.msg (respectively the self.__move_action_goal.request object) is currently not used in moveit2. --> The 'max_cartesian_speed' variable requires the 'default_planner_request_adapters/SetMaxCartesianEndEffectorSpeed' which currently only exists in moveit1.
* Added ability to have cartesian planning calls avoid collisions * Fix bad merge * Allow users to set cartesian jump threshold * Allow users to set cartesian max step * Pass frame_id into the cartesian planning service * Add ability to specify a required fraction for a cartesian plan to succeed * Allowed users to get end effector name and base link name * Add revolute and prismatic jump thresholds * Formatting * Added test cases
* Added a function to move collision objects * Add examples
* Allow scaling of collision meshes * Added trimesh to rosdeps for easier installation * Ran tests with example * Remove trimesh as a required dependency
…ing_scene` To User (#66) * Reinstate Humble compatibility for GetCartesianPath * Expose planning scene to user
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FYI @amalnanavati, I just did a quick test on a couple of old demos, and everything seems to be functional. Perhaps it is a good time to merge it in and make the release. But I wanted to ask you first as you have worked the most with the codebase. What do you think? |
Signed-off-by: Andrej Orsula <orsula.andrej@gmail.com>
Signed-off-by: Andrej Orsula <orsula.andrej@gmail.com>
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Thanks for checking in! Yeah I’m happy to merge it in; I have no other changes planned at the moment. Of course, more features may arise as I keep using the library, but that could be another release :) |
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Okay, thanks a lot for all your effort! |
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cartesian_speed_limited_linkinstead ofcartesian_speed_end_effector_linkwhen available #56max_cartesian_speedproperty is removedGetCartesianPath& Exposeplanning_sceneTo User #66