Fix the timestep calculation. Look for ::Finished status, not ::Working#10
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AndyZe wants to merge 125 commits into
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Fix the timestep calculation. Look for ::Finished status, not ::Working#10AndyZe wants to merge 125 commits into
AndyZe wants to merge 125 commits into
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Clear all references to RobotModel before destroying the corresponding RobotModelLoader.
Fix moveit#2879 by reorienting the subframe offset applied to a goal pose in the PTP planner, so that it is applied in the correct direction. Also add the same offset computation to LIN and CIRC generators, thus allowing them to work with subframes. Co-authored-by: Robert Haschke <rhaschke@users.noreply.github.com>
Fix push permissions.
This commit fixes a MSA bug causing files in a loaded MoveIt config to be incorrectly classified as externally modified after being written by the "Generate Package" button. As this status is solely based on the file timestamp relative to the timestamp stored in the .setupassistant file, we need to update this timestamp when we wrote the files.
Show a (disabled) dummy slider if there is no nullspace. This avoids flickering between zero and one slider, which is the most common case. Also provide some tooltips to explain the usage.
The progress bar shows the number of pending background jobs. If there is only one job pending, the progress bar is shown and immediately hidden as soon as the process is finished. Thus, we shouldn't show the progress bar if there is only one job and thus no actual progress to show. Use the default size and color scheme.
* boost::bind -> std::bind grep -rlI --exclude-dir=.git "boost::bind" | xargs sed -i 's/boost::bind/std::bind/g' * Convert bind placeholders grep -rlI --exclude-dir=.git " _[0-9]" | xargs sed -i 's/ _\([0-9]\)/ std::placeholders::_\1/g' * Update bind include header grep -rlI --exclude-dir=.git "boost/bind" | xargs sed -i 's#boost/bind.hpp#functional#'
…oveit#2977) For single groups, the old logic fell back to add a marker for the last link if IK is supported for it and no endeffector is defined. That (quite reasonable) fallback did not yet work for subgroups though.
... to allow canceling the simplification step
…t#2986) * [moveit_core] test_planning_scene: Add failing unit test for old scene format The serialization format for the .scene files changed in moveit/moveit#2037. This commits a testcase using the old scene format. It will fail and a subsequent commit to introduce backwards compatibility to the scene-file parsing will make it pass. * [moveit_core] PlanningScene: Add backwards compatibility for old scene version format This commit adds a mechanism for detecting the version of the scene file format to enable the loadGeometryFromStream method to read old version scene files without having to migrate them. To detect the version of the scene format, we use the content of the line following the start of an object: In the old version of the format, this specified the number of shapes in the object (a single int). In the new version of the format, it is the translational part of the pose of the object (i.e. three double values separated by spaces). To detect the format, we check for the number of spaces after trimming the string. * Simplify code: Avoid reading full stream Co-authored-by: Robert Haschke <rhaschke@techfak.uni-bielefeld.de>
* Use ros2_control binaries * Use output screen instead of explicitly stating stderr
Signed-off-by: Gaël Écorchard <gael.ecorchard@cvut.cz>
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Signed-off-by: Gaël Écorchard <gael.ecorchard@cvut.cz>
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Co-authored-by: Henning Kayser <henningkayser@picknik.ai>
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This PR is stale because it has been open for 45 days with no activity. Please tag a maintainer for help on completing this PR, or close it if you think it has become obsolete. |
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If/until the MoveIt PR gets merged, let's fix the timestep calculation. Testing with the first 100 waypoints of the 20220214 bag, this does have an effect:
Prior to this PR - very bad accuracy
With this PR - much better
(Ruckig output on the left / Desired on the right)