Migrate STOMP from ros-planning/stomp_moveit#2158
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henningkayser merged 14 commits intomoveit:mainfrom May 11, 2023
Merged
Migrate STOMP from ros-planning/stomp_moveit#2158henningkayser merged 14 commits intomoveit:mainfrom
henningkayser merged 14 commits intomoveit:mainfrom
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Co-authored-by: Matej Vargovcik <vargovcik@robotechvision.com>
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Codecov ReportPatch and project coverage have no change.
Additional details and impacted files@@ Coverage Diff @@
## main #2158 +/- ##
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- Coverage 50.50% 50.49% -0.00%
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Files 387 387
Lines 31816 31785 -31
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- Hits 16065 16047 -18
+ Misses 15751 15738 -13 ☔ View full report in Codecov by Sentry. |
sjahr
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Nice work! Lots of documentation requests and some questions.
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Nice work! Lots of documentation requests and some questions.
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Nice work! Lots of documentation requests and some questions.
Use getPlanningSceneMonitorNonConst()
Co-authored-by: Robert Haschke <rhaschke@techfak.uni-bielefeld.de> Co-authored-by: Henning Kayser <henningkayser@picknik.ai>
Similar to the current collision check function, constraints are checked per waypoint and scored with a constant penalty if constraints are not met. The costs are then smoothed with the same gaussian as used for collision costs.
* Move package into moveit_planners subdirectory * Rename stomp_moveit package to moveit_planners_stomp * List moveit_planners_stomp as package dependency
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@sjahr I think I pretty much addressed all of your comments. Re-review? |
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Tested it with moveit_cpp and it works 👍
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This migrates the STOMP planner and adapter plugins from https://github.com/ros-planning/stomp_moveit into moveit_planners. https://github.com/ros-planning/stomp_moveit will be archived after merging.
I've taken some time to squash the commit history into meaningful development steps and I would like to preserve it (don't squash). If you think that it's still too verbose, please make suggestions for how to shorten it even more.