Enhancement/moveit ros1 ports#3041
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sjahr merged 5 commits intomoveit:mainfrom Oct 28, 2024
TSNoble:enhancement/moveit-ros1-ports
Merged
Enhancement/moveit ros1 ports#3041sjahr merged 5 commits intomoveit:mainfrom TSNoble:enhancement/moveit-ros1-ports
sjahr merged 5 commits intomoveit:mainfrom
TSNoble:enhancement/moveit-ros1-ports
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sjahr
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Oct 25, 2024
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Thanks for porting this over @TSNoble! Looks like there are still some build failures but that should be easy to address and once that is done, we can merge this!
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@sjahr Thanks for running the workflows again. I'm unsure if the test failures are related to this PR? |
sjahr
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Oct 28, 2024
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Retriggered the Jazzy CI since the failure appears to be unrelated to this PR |
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* Ports moveit/moveit#3592 * Ports moveit/moveit#3590 * Fixes compile errors --------- Co-authored-by: Sebastian Jahr <sebastian.jahr@picknik.ai> (cherry picked from commit 02ebcba) # Conflicts: # moveit_ros/planning_interface/move_group_interface/src/move_group_interface.cpp
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* Enhancement/moveit ros1 ports (#3041) * Ports moveit/moveit#3592 * Ports moveit/moveit#3590 * Fixes compile errors --------- Co-authored-by: Sebastian Jahr <sebastian.jahr@picknik.ai> (cherry picked from commit 02ebcba) # Conflicts: # moveit_ros/planning_interface/move_group_interface/src/move_group_interface.cpp * Accepts all incoming changes. (#3120) * Fixes member names (#3121) --------- Co-authored-by: Tom Noble <53005340+TSNoble@users.noreply.github.com> Co-authored-by: Mark Johnson <104826595+rr-mark@users.noreply.github.com> Co-authored-by: Tom Noble <t.s.noble@outlook.com>
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* Ports moveit/moveit#3592 * Ports moveit/moveit#3590 * Fixes compile errors --------- Co-authored-by: Sebastian Jahr <sebastian.jahr@picknik.ai>
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Description
This PR ports the following ROS1 PRs to moveit2:
More in-depth descriptions can be found on those pull requests, however, for summary:
Modifies
MoveGroupInteraceto use amoveit_msgs::msgs::RobotSateas theconsidered_start_state_RobotStatediffs to avoid passing around large messagesrobot_state::RobotStatePtrto avoid breaking changesDisables updating of attached collision objects when updating states during a pilz sequence motion
I've more-or-less copied the changes from those PRs in verbatim, so if there are differences in moveit2 that need to be taken into account, let me know and I'll make them.
Checklist