Rework execution #459
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Rework execution #459
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- Drop trajectory unwinding (should be handled elsewhere) - Allow multiple start+end effects - Gracefully handle NULL RobotTrajectories
See moveit/moveit#3362 for an upstream fix.it->trajectory
... to allow remembering iterators into those lists
Codecov ReportPatch coverage:
Additional details and impacted files@@ Coverage Diff @@
## master #459 +/- ##
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- Coverage 58.65% 57.94% -0.70%
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Files 90 92 +2
Lines 8424 8523 +99
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- Hits 4940 4938 -2
- Misses 3484 3585 +101
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@rhaschke sure |
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I wasn't aware you had that lying around. Cool! I'm open for a call on TODOs, but from my perspective the main points are
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This is a draft I had lying around for a while to rework MTC solution execution. Instead of calling the move_group's capability, the idea is to directly interface MoveIt's
TrajectoryExecutionManagerand thus allow callbacks for each sub-trajectory segment. To this end, this PR reimplements MoveIt'sPlanExecutionto:ExecutableMotionPlan(the original PlanExecution only allowed for end effects)Of course, in principle it would suffice to have start or end effects only. However, I found it simpler to define preparatory and cleanup tasks of a specific segment within that segment instead of shifting one or the other to the previous/next segment.
The latter functionality was also implemented by moveit/moveit#3243 meanwhile.
The old Task::execute() method was moved into a free function
execute(), still calling the move_group capability.However, a new free function
executableMotionPlan(SolutionBase)is provided to create theExecutableMotionPlanfor use with the newPlanExecution.This needs to be consolidated with moveit/moveit#3243.
@cambel and @v4hn: Can we organize a video conference to discuss open TODOs?