Update to pipeline planner to moveit2 API changes #517
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* Refactor pipeline planner Make code readable Re-order plan functions Make usable with parallel planning Enable configuring multiple pipelines Add callbacks Cleanup and documentation Add API to set parallel planning callbacks and deprecate functions Pass pipeline map by reference Small clang-tidy fix Update core/src/solvers/pipeline_planner.cpp Co-authored-by: Sebastian Castro <4603398+sea-bass@users.noreply.github.com> Update core/src/solvers/pipeline_planner.cpp Format Refactor to avoid calling .at(0) twice Use no default stopping criteria Update fallbacks_move demo * Cleanup + address deprecation warnings * Enabling optionally using a property defined pipeline planner map * Address review * Disable humble CI for ros2 branch * Add pipeline planner unittests + some checks * Add short comment
Co-authored-by: Mario Prats <mario.prats@picknik.ai>
* Add planner name to trajectory info * Extend unittest
* Reset scene diff in task * Add explanation for scene reset
* Add random pose generator * Fix clang-tidy * Apply suggestions from code review Co-authored-by: Sebastian Castro <4603398+sea-bass@users.noreply.github.com> * Add warning and format --------- Co-authored-by: Henning Kayser <henningkayser@picknik.ai> Co-authored-by: Sebastian Castro <4603398+sea-bass@users.noreply.github.com>
* Run goalCallback in a seperate asynchronously * Clang-tidy fixes * Replace std::bind with lambdas * Add comment * Format --------- Co-authored-by: JafarAbdi <cafer.abdi@gmail.com>
… executing the planned trajectory (moveit#355) * Add "controllers" property to Stage and pass them to PlanExecution moveit#123 * Change new property from controller names string to TrajectoryExecutionInfo --------- Co-authored-by: Luca Lach <llach@techfak.uni-bielefeld.de>
…on (moveit#514) * Print warning if no controllers are configured for trajectory execution * Apply suggestions from code review Co-authored-by: Sebastian Castro <4603398+sea-bass@users.noreply.github.com> * Apply suggestions from code review --------- Co-authored-by: Sebastian Castro <4603398+sea-bass@users.noreply.github.com>
Codecov ReportAll modified and coverable lines are covered by tests ✅
Additional details and impacted files@@ Coverage Diff @@
## ros2 #517 +/- ##
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Coverage 42.42% 42.42%
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Files 83 83
Lines 8045 8045
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Hits 3412 3412
Misses 4633 4633 ☔ View full report in Codecov by Sentry. |
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Depends on moveit/moveit2#2153
Update pipeline planner to API changes introduced by ☝️