Add forward_trajectory local solver plugin#359
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henningkayser merged 1 commit intomoveit:feature/hybrid_planningfrom Mar 25, 2021
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@@ Coverage Diff @@
## feature/hybrid_planning #359 +/- ##
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Coverage 48.00% 48.00%
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Files 157 157
Lines 14843 14843
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Hits 7124 7124
Misses 7719 7719 Continue to review full report at Codecov.
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henningkayser
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Feb 17, 2021
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@henningkayser Seems like a failing moveit_servo test leads to not passing the CI checks. Is that a flaky test? Would rebasing the PR and the feature branch solve the issue? |
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Sorry, I somehow didn't notice this. I'll merge your PR and after that you could prepare a rebased feature branch that we can force-push. I'm not sure if the servo issue would be resolved by that though. |
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@sjahr the failing servo test is flaky. My migration to GitHub Actions PR disables it until we can figure out how to fix it. |
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Use ros2_control based joint simulation and remove unnecessary comment Update copyrights Restructure hybrid planning package Fix formatting and add missing time stamp in local solver plugin Remove unnecessary logging and param loading Enable different interfaces between local planner and controller Use JointGroupPositionController as demo hardware controller
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* Add forward_trajectory local solver plugin (moveit#359) * Use ros2_control based joint simulation and remove unnecessary comment * Update copyrights * Restructure hybrid planning package * Fix formatting and add missing time stamp in local solver plugin * Remove unnecessary logging and param loading * Enable different interfaces between local planner and controller * Use JointGroupPositionController as demo hardware controller
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* Add forward_trajectory local solver plugin (moveit#359) * Use ros2_control based joint simulation and remove unnecessary comment * Update copyrights * Restructure hybrid planning package * Fix formatting and add missing time stamp in local solver plugin * Remove unnecessary logging and param loading * Enable different interfaces between local planner and controller * Use JointGroupPositionController as demo hardware controller
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* Add forward_trajectory local solver plugin (moveit#359) * Use ros2_control based joint simulation and remove unnecessary comment * Update copyrights * Restructure hybrid planning package * Fix formatting and add missing time stamp in local solver plugin * Remove unnecessary logging and param loading * Enable different interfaces between local planner and controller * Use JointGroupPositionController as demo hardware controller
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* Add forward_trajectory local solver plugin (moveit#359) * Use ros2_control based joint simulation and remove unnecessary comment * Update copyrights * Restructure hybrid planning package * Fix formatting and add missing time stamp in local solver plugin * Remove unnecessary logging and param loading * Enable different interfaces between local planner and controller * Use JointGroupPositionController as demo hardware controller
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* Add forward_trajectory local solver plugin (moveit#359) * Use ros2_control based joint simulation and remove unnecessary comment * Update copyrights * Restructure hybrid planning package * Fix formatting and add missing time stamp in local solver plugin * Remove unnecessary logging and param loading * Enable different interfaces between local planner and controller * Use JointGroupPositionController as demo hardware controller
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* Add forward_trajectory local solver plugin (moveit#359) * Use ros2_control based joint simulation and remove unnecessary comment * Update copyrights * Restructure hybrid planning package * Fix formatting and add missing time stamp in local solver plugin * Remove unnecessary logging and param loading * Enable different interfaces between local planner and controller * Use JointGroupPositionController as demo hardware controller
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* Add forward_trajectory local solver plugin (moveit#359) * Use ros2_control based joint simulation and remove unnecessary comment * Update copyrights * Restructure hybrid planning package * Fix formatting and add missing time stamp in local solver plugin * Remove unnecessary logging and param loading * Enable different interfaces between local planner and controller * Use JointGroupPositionController as demo hardware controller
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* Add forward_trajectory local solver plugin (moveit#359) * Use ros2_control based joint simulation and remove unnecessary comment * Update copyrights * Restructure hybrid planning package * Fix formatting and add missing time stamp in local solver plugin * Remove unnecessary logging and param loading * Enable different interfaces between local planner and controller * Use JointGroupPositionController as demo hardware controller
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* Add forward_trajectory local solver plugin (moveit#359) * Use ros2_control based joint simulation and remove unnecessary comment * Update copyrights * Restructure hybrid planning package * Fix formatting and add missing time stamp in local solver plugin * Remove unnecessary logging and param loading * Enable different interfaces between local planner and controller * Use JointGroupPositionController as demo hardware controller
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* Add forward_trajectory local solver plugin (moveit#359) * Use ros2_control based joint simulation and remove unnecessary comment * Update copyrights * Restructure hybrid planning package * Fix formatting and add missing time stamp in local solver plugin * Remove unnecessary logging and param loading * Enable different interfaces between local planner and controller * Use JointGroupPositionController as demo hardware controller
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* Add forward_trajectory local solver plugin (moveit#359) * Use ros2_control based joint simulation and remove unnecessary comment * Update copyrights * Restructure hybrid planning package * Fix formatting and add missing time stamp in local solver plugin * Remove unnecessary logging and param loading * Enable different interfaces between local planner and controller * Use JointGroupPositionController as demo hardware controller
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* Add forward_trajectory local solver plugin (moveit#359) * Use ros2_control based joint simulation and remove unnecessary comment * Update copyrights * Restructure hybrid planning package * Fix formatting and add missing time stamp in local solver plugin * Remove unnecessary logging and param loading * Enable different interfaces between local planner and controller * Use JointGroupPositionController as demo hardware controller
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Dec 7, 2021
* Add forward_trajectory local solver plugin (moveit#359) * Use ros2_control based joint simulation and remove unnecessary comment * Update copyrights * Restructure hybrid planning package * Fix formatting and add missing time stamp in local solver plugin * Remove unnecessary logging and param loading * Enable different interfaces between local planner and controller * Use JointGroupPositionController as demo hardware controller
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Signed-off-by: Tyler Weaver <tylerjw@gmail.com>
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Description
This PR adds a local solver plugin to the hybrid planning architecture, that simply forwards the local solution trajectory-point-wise to the underlying controller.
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