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cherry-pick #94 from kinetic-devel: execute action capability#144

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v4hn merged 5 commits intomoveit:indigo-develfrom
rhaschke:execute-action
Nov 11, 2016
Merged

cherry-pick #94 from kinetic-devel: execute action capability#144
v4hn merged 5 commits intomoveit:indigo-develfrom
rhaschke:execute-action

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@rhaschke rhaschke commented Aug 24, 2016

Cherry picked #94 from Kinetic, but removed deprecation warnings as agreed in moveit/moveit_msgs#27 (comment).

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v4hn commented Aug 24, 2016 •
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I'll review this, but I'm way to busy this week, so I'm not exactly sure when I will get around to do it..

Thanks for porting it back!

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davetcoleman commented Aug 24, 2016

LGTM - this PR has been reviewed so many times!

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v4hn commented Aug 24, 2016

On Wed, Aug 24, 2016 at 10:01:56AM -0700, Dave Coleman wrote:

LGTM - this PR has been reviewed so many times!

So did you test it on indigo and check ABI compatibility?

@rhaschke rhaschke mentioned this pull request Aug 25, 2016
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davetcoleman commented Aug 25, 2016

So did you test it on indigo and check ABI compatibility?

I did not, which is why I did not give a +1. You said you'd review it but I gave it a quick read through and was just surprised to see the same old code I've read several times now

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rhaschke commented Sep 9, 2016

@v4hn: ping.

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v4hn commented Sep 9, 2016

On Thu, Sep 08, 2016 at 11:43:02PM -0700, Robert Haschke wrote:

@v4hn: ping.

pong, I'll try to do this next week (though I hate to make such statements in request threads...).

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davetcoleman commented Sep 16, 2016

ping :-)

@v4hn v4hn mentioned this pull request Sep 21, 2016
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130s commented Nov 5, 2016

ping ping :)

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davetcoleman commented Nov 5, 2016

Note this PR needs to merge in this fix that has already been applied to Jade/Kinetic: #335 (comment)

@rhaschke
cherry-pick #94 from kinetic-devel: Add capability to execute traject…
b719c31 
…ory with a ROS action

* Add capability to execute trajectory as a ROS action
* cleanup instantiation of MoveGroupInterface
  - unified names of execute_trajectory service and action capabilities
  - consider overall (wall) timeout for waiting for action servers
  - output deprecation warning once during instantiation
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rhaschke commented Nov 9, 2016

Rebased to indigo-devel (recent commits there introduced some conflicts). Cherry-picked #335 as suggested by @davetcoleman. I don't have an Indigo system around anymore, so @v4hn can you please finally validate this PR?

rhaschke and others added 4 commits November 9, 2016 22:56
@rhaschke
removed deprecation warnings
54f0b8f 
... these should pop up in >= Jade only
@rhaschke
cherry-pick #151 from Kinetic as a fix for #94
6e5a4fd 
* fix essential typo
  to allow correctly waiting infinite time for move_group's capabilities to come up

* fix ambiguous MoveGroup constructor
  Switching to the correct WallDuration interface for MoveGroup,
  make the constructor ambigue if not the full signature is used.

  Removing the default values for the old constructor solves this issue.
  This will automatically choose the new version in this case.
@davetcoleman @rhaschke
Fix move_group_interface: unable to wait forever for execution capabi…
1bf0eca 
…lity to come up (#335)
@rhaschke
fix formatting
bf3cb34
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v4hn commented Nov 11, 2016

Ok, just looked through this once more.
It seems quite likely to me that #335 fixed issue #201 and this leaves no open issues with the patch.
Merging.

Thanks a lot @rhaschke and @davetcoleman !

@v4hn v4hn merged commit dacff9b into moveit:indigo-devel Nov 11, 2016
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davetcoleman commented Nov 11, 2016

hurray, finally!

@rhaschke rhaschke deleted the execute-action branch November 13, 2016 22:24
JafarAbdi pushed a commit to JafarAbdi/moveit that referenced this pull request Mar 24, 2022
@henningkayser
Re-enable moveit_ros_planning (moveit#144)
7a1ff7e
steven676 added a commit to UCB-ISG/sawyer_moveit that referenced this pull request Oct 31, 2024
@steven676
Update MoveIt move_group capabilities: MoveGroupExecuteService -> Mov…
06f9f23 
…eGroupExecuteTrajectoryAction

MoveGroupExecuteService has been deprecated since kinetic and was removed
in melodic, so this hasn't worked for quite a while.  See:

* moveit/moveit#144
* moveit/moveit#833

Inspired by ros-industrial/universal_robot#413
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