Changelog for package pr2eus_moveit

0.3.15 (2023-04-17)

Loosen test condition for test-collision-object-publisher (#484)
integrate all .github/workflows/*.yml to config.yml, fix permission issue (#479)

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test check apply_planning_scene before creating collision-object-publisher/ci without MoveIt (#469)
check apply_planning_scene before creating collision-object-publisher/ci (#446)
add test code for #461 (#468)
[pr2eus_moveit] Add timeout arg for computing IK and increase timeout for test (#438)
Check current collision when trajectory could not be generated (#448)
[pr2eus_moveit] evaluate all bodies only when it has bodies (#442)
[pr2eus_moveit] Add test for collision-object-publisher (#431)
[pr2eus_moveit] fix collision-object-sample.l and :add-object in collision-object-publisher.l (#423)
[pr2eus_moveit] add method to delete collision objects by id (#421)
[pr2eus_moveit] fix cylinder collision object msg (#419)
enable to test navigation in gazebo for pr2-ri-test (#420)
[pr2eus_moveit] Add docstring to :angle-vector-motion-plan (#392)
need to check both pr2_gazebo and pr2_moveit_config (#393)
Contributors: Kei Okada, Koki Shinjo, Naoto Tsukamoto, Naoya Yamaguchi, Shingo Kitagawa, Shumpei Wakabayashi, Shun Hasegawa, Yuto Uchimi

0.3.14 (2019-02-11)

fix typo and add pr2-init in pr2eus-moveit.l for PR2 + moveit (#382 )
- add moveit pr2-init in pr2eus-moveit.l redefine original pr2-init -> pr2-init-org
- fix parenthesis close in pr2eus-moveit.l
Fix velocity time scaling (#377 )
- Fix scaling of multi dof joint trajectory
- scale accelerations in :trajectory-filter
- fix velocity time scaling
- Add test for time scaling of vel and acc in :trajectory-filter
Fix :angle-vector-make-trajectory to ignore start-offset-time (#365 )
- Remove first point of new traj if it overlaps with existing traj. Without this fix, traj points having the same time_from_start appear. This may harm joint trajectory action server.
- Use exact time_from_start to pass test
- Fix :angle-vector-make-trajectory to ignore start-offset-time
- Reduce start-offset-time to speed up tests
- Use init-pose instead of reset-manip-pose to speed up test-angle-vector-sequence-motion-plan
- Loosen time limit of new test
- Add test for start-offset-time with avs
Fix time_from_start in motion-planned angle-vector-sequence (#363 )
- Update robot in ri in 1st loop
- Set time_from_start correctly in :angle-vector-make-trajectory Previously, traj points for second av started from zero time_from_start
- Add equal to sort in test to avoid error
- Add test for concatenation in :angle-vector-make-trajectory
Fix :trajectory-filter to ignore start-offset-time (#361 )
- Remove start-offset-time from passing args
- Fix :trajectory-filter to ignore start-offset-time
- Add test for start-offset-time
pr2eus_moveit: support motion with mobile base (#357 )
- reset-total-time is used only when trajectory is short See https://github.com/jsk-ros-pkg/jsk_pr2eus/blob/0.3.13/pr2eus_moveit/euslisp/robot-moveit.l#L539-L544
- Don't skip :trajectory-filter as before So far, this has been realized by an odd way (https://github.com/jsk-ros-pkg/jsk_pr2eus/commit/ca27e9d8dbe765b1879daf9ccd80e09c81674ab1)
- pr2eus_moveit: run test only when pr2_gazebo is available
- pr2eus_moveit: support planning with base movement
run everything within jenkins (#340)
- explictly set DISPLAY="" for roseus test
- re-define :joint-angle to avoid print violate max/min-angle that exceeds 4M log limit
- test-pr2eus-moveit.l: not sure why, but sometimes utf-8 code is displayed and brakes catkin build
- set time-limit for pr2-ri-test to 600
- .travis.yml: run everything within travis
- install pr2-arm-kinematics for indigo
Use service call for collision-object-publisher (#324)
- operate attached_collision_object by service call
- refactor codes in collision-object-publisher
Contributors: Affonso Guilherme, Kei Okada, Shingo Kitagawa, Shun Hasegawa, Yuki Furuta

0.3.13 (2017-07-14)

[pr2eus_moveit] add 0.5 seconds sleep after collision object pub (#315) * add comment why we need unix:sleep * add 0.5 seconds sleep after collision object pub
add test for https://github.com/jsk-ros-pkg/jsk_pr2eus/pull/310#issuecomment-314694668 (#312 ) * test/test-pr2eus-moveit.l, add test-moveit-fastest-trajectory, ensure that :angle-vector-motion-plan will not send faster motion then moveit planned motion * display both scaled trajectory time and actual time_to_start time * robot-moveit.l : set default start-offset-time to 0, not to skip :trajectory-filter * robot-moveit.l, fix debug info (/ total-time 1000) -> (/ total-time 1000.0)
Revert #310 "[pr2eus_moveit] fix typo in total-time condition" (#314 )
Contributors: Kei Okada, Shingo Kitagawa

0.3.12 (2017-07-11)

robot-interface.l: send angle-vector only once, some controller-table had multiple definition for one method, we ignore them (#308) * test/test-pr2eus-moveit.test only runs on indigo * fix when two controller has same action instance * add dummy controller for #308 * send angle-vector only once, some controller-table had multiple definition for one method, we ignore them
[pr2eus_moveit] fix bug in angle-vector-motion-plan (#309) * fix bug in angle-vector-motion-plan error occur when (length controller-actions) != (length (send self ctype))

System Message: ERROR/3 (<string>, line 117)

Unexpected indentation.

this case happens when you init robot-interface with :default-controller, but send av with :rarm-controller.
[pr2eus_moveit] fix typo in total-time condition (#310)
[pr2eus_moveit] fix typo in robot-moveit.l (#306 ) * [(:angle-vector-motion-plan] controller-type -> ctype
Contributors: Kei Okada, Shingo Kitagawa

0.3.11 (2017-06-25)

pr2eus_moveit/euslisp/robot-moveit.l: support tm :fast in :angle-vector-motion-plan (#297 ) * add :scale for :fast in :angle-vector-motion-plan * add trajectory_constraints commentout

System Message: ERROR/3 (<string>, line 130)

Unexpected indentation.

trajectory_constraints is not used in motion planning. see https://github.com/ros-planning/moveit_msgs/issues/2

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- add max_velocity/acceleration_scaling_factor
- support tm :fast in :angle-vector-motion-plan
pr2eus_moveit/euslisp/robot-moveit.l: add angle-vector-sequence-motion-plan test (#293 ) * set longer time-limit for moveit test
pass ctype in angle-vector-motion-plan (#292 )
advertise CollisionObject with latch=t (#290 )
Contributors: Kei Okada, Shingo Kitagawa

0.3.10 (2017-03-02)

0.3.9 (2017-02-22)

Support Kinetic (#284 ) * pr2_controllers_msgs is not released on J/K
[pr2eus_moveit/collision-object-publisher.l] fix bug in :wipe-all (#283 ) * separate wipe-all and fix bug * set new hash-table in :clear-all
[pr2eus_moveit/robot-moveit.l] support angle-vector-sequence with MoveIt! (#282 ) * support angle-vector-sequence for motion plan * remove trajectory-constraints for motion plan
Contributors: Kei Okada, Shingo Kitagawa

0.3.8 (2017-02-07)

robot-moveit.l * enable set default planner in moveit-env initialization (#280 ) * [pr2eus_moveit] pass start-offset-time as starttime to :send-trajectory (#276) * pass start-offset-time to :send-trajectory * angle-vector-motion-plan return angle-vector (#268) * angle-vector-motion-plan accepts angle-vector seq

System Message: ERROR/3 (<string>, line 166)

Unexpected indentation.

modify :angle-vector-motion-plan to accept angle-vector-sequence set (butlast avs) as TrajectoryConstraints (#259)

System Message: WARNING/2 (<string>, line 168)

Block quote ends without a blank line; unexpected unindent.
- add :ctype args in angle-vector-motion-plan to set controller-type for :angle-vector-motion-plan(#261)
- total-time is msec ,and orig-total-time is sec, :total-time in :trajectory-fiter is msec (#257) FIx bugs in #252
collision-object-publisher.l * [pr2eus_moveit/collision-object-publisher] support body class object (#269) * fix bug in collision-object-publisher :wipe-all (#267) * remove unused key in collision-object-publisher (#266)
Contributors: Naoya Yamaguchi, Kei Okada, Shingo Kitagawa

0.3.7 (2016-11-08)

:trajectory-filter add clear-velocities
Contributors: Kei Okada

0.3.6 (2016-11-02)

Update on robot-modeit.l ( #252 ) * :angle-vector-motion send trajectory for joints not incldued in move-arm * :trajectory-filter scale based on original time sequences * add feature to filter trajectory using total-time * robot-moveit.l (:trajectory-filter) add start-offset-time * more message on ros-info * cleanup :angle-vector-motion-plan function using orig-total-time variable
Contributors: Kei Okada

0.3.5 (2016-09-16)

0.3.4 (2016-06-22)

0.3.3 (2016-05-28)

CMakeLists.txt : forget to install euslisp directory ( #230 )
Contributors: Kei Okada

0.3.2 (2016-05-26)

0.3.1 (2016-05-22)

add pr2eus_moveit/README.md
pr2eus_moveit: add test program
robot-moveit.l : add info message for mumber of points and duration
use RRTConnectkConfigDefault as a defualt planner
robot-moveit.l : fix wrong commit on https://github.com/jsk-ros-pkg/jsk_pr2eus/commit/7d461b7ef199e26f0f9826ed4f1b1fd4cea606fe#commitcomment-17502889
move pr2eus-moveit -> robot-moveit.l
pr2eus_moveit: CMakeLists.txt install euslisp/ tutorials/ directory
pr2eus-moveit.l : fix wrong commit on https://github.com/jsk-ros-pkg/jsk_pr2eus/commit/a55cfb08724ae0034382e2407f60d6830729e04b#commitcomment-17500452
Contributors: Kei Okada

0.3.0 (2016-03-20)

0.2.1 (2016-03-04)

0.2.0 (2015-11-03)

0.1.11 (2015-06-11)

0.1.10 (2015-04-03 18:49)

0.1.9 (2015-04-03 16:52)

0.1.8 (2015-02-25)

[pr2eus_moveit] package.xml fix version number
[pr2eus_moveit] Catkinize pr2eus_moveit
Contributors: Kei Okada, aginika

0.1.7 (2015-02-10)

fix typo
add code for using action-server instead of service
add check-state-validity service and fix minor bug
fix bug in collision-object-publisher.l
change moveit groupname
add code for using arms
added eus2scene.l
add publish-eusscene-marker.l
add publish-eusscene.l
Contributors: YoheiKakiuchi, mmurooka, tarukosu

0.1.6 (2014-05-11)

0.1.5 (2014-05-03)

0.1.4 (2014-05-02 22:28)

0.1.3 (2014-05-02 18:04)

0.1.2 (2014-05-01 22:43)

0.1.1 (2014-05-01 02:14)

add pr2-tabletop-demo, picking object up on table useing moveit
comment out debug message
update pr2eus_moveit for using constraints
Merge pull request #9 from YoheiKakiuchi/add_use_directly_joint_trajectory use joint trajectory mode for moveit
add clear-world-scene method to pr2eus-moveit
use joint trajectory mode for moveit
fix typo :frame_id -> :frame-id
enable to set object-id with keyword
update publish-eusobject.l
add publish-eusobject.l for publishing eus model to moveit environment
change loading order for pr2eus-moveit
fix minor bug
add pr2-moveit.l
fix typo
add publish-collision-object
add make-virtual-joint-constraints
add :motion-plan-raw method for testing planning
delete method for attached-object
add :add-attached-object to collision-object-publisher
add :query-planner-interface to pr2eus-moveit
update
add keyword for adding constraints to motion-plan
add making constraints functions
update pr2eus-moveit.l
add method for robot-interface on pr2eus-moveit
update pr2eus-moveit
update pr2eus_moveit tutorials
add :sync-robot-model method to pr2eus-moveit
move collision-object-sample.l to tutorials
add tutorials to pr2eus_moveit
add :execute-trajectory method to pr2eus-moveit
update sample for pr2eus_moveit
add updating faces coords
add collision-object-sample
add :relative-pose keyword to collision-object-publisher.l
fix typo and minor bug
implement :motion-plan method to pr2eus-moveit.l
fix typo
add using torso configuration to pr2eus-moveit.l
rename pr2eus_moveit.l -> pr2eus-moveit.l
implement :get-ik-for-pose to moveit-environment
rename scene-topic -> scene-service
add pr2eus_moveit.l for using moveit from roseus interface
add package dependancy to pr2eus_moveit
move :get-planning-scene method to get-planning-scene function
add pr2eus_moveit for using moveit components from roseus
Contributors: Yohei Kakiuchi, YoheiKakiuchi, youhei