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Commit 3718a979 authored by KingMaZito's avatar KingMaZito
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first parallel planning attempts

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.catkin_tools/profiles/default/devel_collisions.txt
+ 1
− 1
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/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
src/.vscode/c_cpp_properties.json
+ 27
− 49
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...@@ -2,49 +2,27 @@ ...@@ -2,49 +2,27 @@
"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/**",
"/home/matteo/ws_moveit/src/moveit/moveit_setup_assistant/include/**",
"/home/matteo/ws_moveit/src/moveit/moveit_plugins/moveit_simple_controller_manager/include/**",
"/home/matteo/ws_moveit/src/moveit_visual_tools/include/**",
"/home/matteo/ws_moveit/src/octomap_msgs/include/**",
"/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/**",
"/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/",
"${workspaceFolder}/object_creator/include"
], ],
"name": "ROS", "name": "ROS",
"cStandard": "c17", "intelliSenseMode": "gcc-x64",
"cppStandard": "c++17" "compilerPath": "/usr/bin/gcc",
"cStandard": "gnu11",
"cppStandard": "c++14"
} }
], ],
"version": 4 "version": 4
......
src/franka_description/robots/ceti_double.urdf.xacro
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...@@ -13,7 +13,7 @@ ...@@ -13,7 +13,7 @@
<link name="world" /> <link name="world" />
<xacro:property name="yaml_file" value="$(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']}" />
......
src/mtc/descriptions/dummy2.yaml
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− 1
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{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
src/mtc/include/impl/abstract_robot.h
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− 0
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...@@ -52,6 +52,8 @@ class Abstract_robot { ...@@ -52,6 +52,8 @@ class Abstract_robot {
}; };
inline std::string& name() { return name_;} inline std::string& name() { return name_;}
inline tf2::Transform& tf() { return tf_;} inline tf2::Transform& tf() { return tf_;}
inline tf2::Vector3& size() { return size_;} inline tf2::Vector3& size() { return size_;}
......
src/mtc/include/impl/moveit_mediator.h
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− 0
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...@@ -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_;};
......
src/mtc/include/impl/moveit_robot.h
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...@@ -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_;}
......
src/mtc/launch/cell_routine.launch
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...@@ -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">
......
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