Skip to content
Snippets Groups Projects
Commit 3718a979 authored by KingMaZito's avatar KingMaZito
Browse files

first parallel planning attempts

parent 15ab45ae
No related branches found
No related tags found
No related merge requests found
Pipeline #14961 failed
Showing
with 86 additions and 54 deletions
/home/matteo/ws_panda/devel/./cmake.lock 42 /home/matteo/ws_panda/devel/./cmake.lock 42
/home/matteo/reachability/devel/./cmake.lock 24055 /home/matteo/reachability/devel/./cmake.lock 24364
/home/matteo/reachability/devel/lib/libmoveit_grasps.so 79 /home/matteo/reachability/devel/lib/libmoveit_grasps.so 79
/home/matteo/reachability/devel/lib/libmoveit_grasps_filter.so 79 /home/matteo/reachability/devel/lib/libmoveit_grasps_filter.so 79
{ {
"configurations": [ "configurations": [
{ {
"browse": { "browse": {
"databaseFilename": "", "databaseFilename": "${default}",
"limitSymbolsToIncludedHeaders": true "limitSymbolsToIncludedHeaders": false
}, },
"includePath": [ "includePath": [
"/home/matteo/ws_moveit/devel/include/**", "/home/matteo/reachability/devel/include/**",
"/opt/ros/noetic/include/**", "/opt/ros/noetic/include/**",
"/home/matteo/ws_moveit/src/moveit/moveit_planners/chomp/chomp_motion_planner/include/**", "/home/matteo/reachability/src/moveit_task_constructor/core/include/**",
"/home/matteo/ws_moveit/src/eigen_stl_containers/include/**", "/home/matteo/reachability/src/moveit_task_constructor/demo/include/**",
"/home/matteo/ws_moveit/src/geometric_shapes/include/**", "/home/matteo/reachability/src/mtc/include/**",
"/home/matteo/ws_moveit/src/moveit/moveit_planners/chomp/chomp_interface/include/**", "/home/matteo/reachability/src/object_creator/include/**",
"/home/matteo/ws_moveit/src/moveit_resources/prbt_ikfast_manipulator_plugin/include/**", "/home/matteo/reachability/src/reachability/include/**",
"/home/matteo/ws_moveit/src/moveit/moveit_ros/benchmarks/include/**", "/home/matteo/reachability/src/moveit_task_constructor/rviz_marker_tools/include/**",
"/home/matteo/ws_moveit/src/moveit/moveit_plugins/moveit_ros_control_interface/include/**", "/home/matteo/reachability/src/simulation_util/include/**",
"/home/matteo/ws_moveit/src/moveit/moveit_ros/move_group/include/**", "/home/matteo/reachability/src/yaml_to_mtc/include/**",
"/home/matteo/ws_moveit/src/moveit/moveit_ros/occupancy_map_monitor/include/**", "/usr/include/**"
"/home/matteo/ws_moveit/src/moveit/moveit_ros/robot_interaction/include/**", ],
"/home/matteo/ws_moveit/src/moveit/moveit_ros/moveit_servo/include/**", "name": "ROS",
"/home/matteo/ws_moveit/src/moveit/moveit_setup_assistant/include/**", "intelliSenseMode": "gcc-x64",
"/home/matteo/ws_moveit/src/moveit/moveit_plugins/moveit_simple_controller_manager/include/**", "compilerPath": "/usr/bin/gcc",
"/home/matteo/ws_moveit/src/moveit_visual_tools/include/**", "cStandard": "gnu11",
"/home/matteo/ws_moveit/src/octomap_msgs/include/**", "cppStandard": "c++14"
"/home/matteo/ws_moveit/src/moveit/moveit_planners/pilz_industrial_motion_planner/include/**", }
"/home/matteo/ws_moveit/src/moveit/moveit_planners/pilz_industrial_motion_planner_testutils/include/**", ],
"/home/matteo/ws_moveit/src/pybind11_catkin/include/**", "version": 4
"/home/matteo/ws_moveit/src/random_numbers/include/**",
"/home/matteo/ws_panda/src/reachability/include/**",
"/home/matteo/ws_moveit/src/rosparam_shortcuts/include/**",
"/home/matteo/ws_moveit/src/rviz_visual_tools/include/**",
"/home/matteo/ws_moveit/src/srdfdom/include/**",
"/home/matteo/ws_moveit/src/warehouse_ros/include/**",
"/usr/include/**",
"${workspaceFolder}/mtc/include",
"${workspaceFolder}/mtc/include/impl",
"${workspaceFolder}/mtc/include/impl/ho",
"${workspaceFolder}/mtc/src",
"${workspaceFolder}/yaml_to_mtc/include",
"${workspaceFolder}/moveit_task_constructor/core/include",
"${workspaceFolder}/moveit_task_constructor/",
"${workspaceFolder}/object_creator/include"
],
"name": "ROS",
"cStandard": "c17",
"cppStandard": "c++17"
}
],
"version": 4
} }
\ No newline at end of file
...@@ -13,7 +13,7 @@ ...@@ -13,7 +13,7 @@
<link name="world" /> <link name="world" />
<xacro:property name="yaml_file" value="$(find mtc)/results/dummy/-1801493263.yaml" /> <xacro:property name="yaml_file" value="$(find mtc)/results/dummy/-1511245846.yaml" />
<xacro:property name="props" value="${xacro.load_yaml(yaml_file)}" /> <xacro:property name="props" value="${xacro.load_yaml(yaml_file)}" />
<xacro:property name="x1" value="${props['objects'][8]['pos']['x']}" /> <xacro:property name="x1" value="${props['objects'][8]['pos']['x']}" />
......
{task: {groups: {robot_x: [-0.300000 -0.700000 0.890000, -0.300000 -0.600000 0.890000, -0.200000 -0.700000 0.890000, -0.200000 -0.600000 0.890000, 0.100000 -0.700000 0.890000, 0.100000 -0.600000 0.890000, 0.100000 -0.300000 0.890000, 0.100000 -0.200000 0.890000, 0.100000 -0.100000 0.890000, 0.200000 -0.300000 0.890000, 0.200000 -0.200000 0.890000, 0.200000 -0.100000 0.890000, 0.300000 -0.300000 0.890000, 0.300000 -0.200000 0.890000, 0.300000 -0.100000 0.890000, 0.100000 0.100000 0.890000, 0.100000 0.200000 0.890000, 0.100000 0.300000 0.890000, 0.200000 0.100000 0.890000, 0.200000 0.200000 0.890000, 0.200000 0.300000 0.890000, 0.300000 0.100000 0.890000, 0.300000 0.200000 0.890000, 0.300000 0.300000 0.890000, -0.300000 0.600000 0.890000, -0.300000 0.700000 0.890000, -0.200000 0.600000 0.890000, -0.200000 0.700000 0.890000, 0.100000 0.600000 0.890000, 0.100000 0.700000 0.890000, -0.300000 0.600000 0.890000, -0.300000 0.700000 0.890000, -0.200000 0.600000 0.890000, -0.200000 0.700000 0.890000, 0.100000 0.600000 0.890000, 0.100000 0.700000 0.890000], robot_y: [0.100000 1.010000 0.890000, 0.100000 1.110000 0.890000, 0.100000 1.210000 0.890000, 0.200000 1.010000 0.890000, 0.200000 1.110000 0.890000, 0.200000 1.210000 0.890000, 0.300000 1.010000 0.890000, 0.300000 1.110000 0.890000, 0.300000 1.210000 0.890000, 0.100000 1.410000 0.890000, 0.100000 1.510000 0.890000, 0.100000 1.610000 0.890000, 0.200000 1.410000 0.890000, 0.200000 1.510000 0.890000, 0.200000 1.610000 0.890000, 0.300000 1.410000 0.890000, 0.300000 1.510000 0.890000, 0.300000 1.610000 0.890000, -0.300000 1.910000 0.890000, -0.300000 2.010000 0.890000, -0.200000 1.910000 0.890000, -0.200000 2.010000 0.890000, 0.100000 1.910000 0.890000, 0.100000 2.010000 0.890000, -0.300000 0.600000 0.890000, -0.300000 0.700000 0.890000, -0.200000 0.600000 0.890000, -0.200000 0.700000 0.890000, 0.100000 0.600000 0.890000, 0.100000 0.700000 0.890000, -0.300000 0.600000 0.890000, -0.300000 0.700000 0.890000, -0.200000 0.600000 0.890000, -0.200000 0.700000 0.890000, 0.100000 0.600000 0.890000, 0.100000 0.700000 0.890000]}}} task:
\ No newline at end of file groups:
panda_arm1:
- -0.300000 -0.700000 0.890000
- -0.300000 -0.600000 0.890000
- -0.200000 -0.700000 0.890000
- -0.200000 -0.600000 0.890000
- 0.100000 -0.700000 0.890000
- 0.100000 -0.600000 0.890000
- 0.100000 -0.300000 0.890000
- 0.100000 -0.200000 0.890000
- 0.100000 -0.100000 0.890000
- 0.200000 -0.300000 0.890000
- 0.200000 -0.200000 0.890000
- 0.200000 -0.100000 0.890000
- 0.300000 -0.300000 0.890000
- 0.300000 -0.200000 0.890000
- 0.300000 -0.100000 0.890000
- 0.100000 0.100000 0.890000
- 0.100000 0.200000 0.890000
- 0.100000 0.300000 0.890000
- 0.200000 0.100000 0.890000
- 0.200000 0.200000 0.890000
- 0.200000 0.300000 0.890000
- 0.300000 0.100000 0.890000
- 0.300000 0.200000 0.890000
- 0.300000 0.300000 0.890000
panda_arm2:
- 0.100000 1.110000 0.890000
- 0.100000 1.210000 0.890000
- 0.200000 1.010000 0.890000
- 0.200000 1.110000 0.890000
- 0.200000 1.210000 0.890000
- 0.300000 1.010000 0.890000
- 0.300000 1.110000 0.890000
- 0.300000 1.210000 0.890000
- 0.100000 1.410000 0.890000
- 0.100000 1.510000 0.890000
- 0.100000 1.610000 0.890000
- 0.200000 1.410000 0.890000
- 0.200000 1.510000 0.890000
- 0.200000 1.610000 0.890000
- 0.300000 1.410000 0.890000
- 0.300000 1.510000 0.890000
- 0.300000 1.610000 0.890000
- -0.300000 1.910000 0.890000
- -0.300000 2.010000 0.890000
- -0.200000 1.910000 0.890000
- -0.200000 2.010000 0.890000
- 0.100000 1.910000 0.890000
- 0.100000 2.010000 0.890000
\ No newline at end of file
...@@ -51,6 +51,8 @@ class Abstract_robot { ...@@ -51,6 +51,8 @@ class Abstract_robot {
observer_mask_ = std::bitset<3>(0); observer_mask_ = std::bitset<3>(0);
}; };
inline std::string& name() { return name_;} inline std::string& name() { return name_;}
inline tf2::Transform& tf() { return tf_;} inline tf2::Transform& tf() { return tf_;}
......
...@@ -71,6 +71,7 @@ class Moveit_mediator : public Abstract_mediator{ ...@@ -71,6 +71,7 @@ class Moveit_mediator : public Abstract_mediator{
void publish_tables(); void publish_tables();
void load_robot_description(); void load_robot_description();
void rewrite_task_template(Abstract_robot* r, moveit_msgs::CollisionObject& source, tf2::Transform& target); void rewrite_task_template(Abstract_robot* r, moveit_msgs::CollisionObject& source, tf2::Transform& target);
void parallel_exec(Abstract_robot& penis, moveit_msgs::CollisionObject& source, std::vector<tf2::Transform>& target);
void create_Task(Abstract_robot* r, moveit_msgs::CollisionObject& source, tf2::Transform& target); void create_Task(Abstract_robot* r, moveit_msgs::CollisionObject& source, tf2::Transform& target);
inline std::map<std::string, std::vector<moveit::task_constructor::Task>>& task_map(){return task_map_;}; inline std::map<std::string, std::vector<moveit::task_constructor::Task>>& task_map(){return task_map_;};
......
...@@ -25,6 +25,7 @@ class Moveit_robot : public Robot{ ...@@ -25,6 +25,7 @@ class Moveit_robot : public Robot{
map_.insert(std::make_pair<std::string, std::string>("hand_frame", ik_frame_n.str())); map_.insert(std::make_pair<std::string, std::string>("hand_frame", ik_frame_n.str()));
map_.insert(std::make_pair<std::string, std::string>("hand_group_name", hand_n.str())); map_.insert(std::make_pair<std::string, std::string>("hand_group_name", hand_n.str()));
} }
inline moveit::planning_interface::MoveGroupInterface* mgi() {return mgi_;} inline moveit::planning_interface::MoveGroupInterface* mgi() {return mgi_;}
......
...@@ -3,12 +3,12 @@ ...@@ -3,12 +3,12 @@
<!--<include file="$(find panda_moveit_config)/launch/demo.launch"></include> --> <!--<include file="$(find panda_moveit_config)/launch/demo.launch"></include> -->
<!-- this is to change--> <!-- this is to change-->
<rosparam command="load" file="$(find mtc)/results/dummy/-1801493263.yaml"/> <rosparam command="load" file="$(find mtc)/results/dummy/-1511245846.yaml"/>
<rosparam command="load" file="$(find mtc)/mtc_templates/dummy.yaml" /> <rosparam command="load" file="$(find mtc)/mtc_templates/dummy.yaml" />
<rosparam command="load" file="$(find mtc)/maps/dummy.yaml"/> <rosparam command="load" file="$(find mtc)/maps/dummy.yaml"/>
<rosparam command="load" file="$(find mtc)/descriptions/dummy.yaml"/> <rosparam command="load" file="$(find mtc)/descriptions/dummy2.yaml"/>
<include file="$(find ceti_double)/launch/demo.launch"> <include file="$(find ceti_double)/launch/demo.launch">
......
0% Loading or .
You are about to add 0 people to the discussion. Proceed with caution.
Please register or to comment