Skip to content
New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

Adding Trajopt_Ifopt option to all examples #91

Merged
merged 4 commits into from
May 1, 2024
Merged

Adding Trajopt_Ifopt option to all examples #91

Show file tree
Hide file tree
Changes from all commits
Commits
Show all changes
4 commits
Select commit Hold shift + click to select a range
86b5f25
Adding Trajopt_Ifopt option to all examples
rjoomen Jan 15, 2024
e471492
clang-format
rjoomen Jan 15, 2024
ba30ab2
Merge branch 'master' into ifopt_examples
rjoomen May 1, 2024
4ad7402
Merge branch 'master' into ifopt_examples
rjoomen May 1, 2024
File filter

Filter by extension

Filter by extension
Conversations
Failed to load comments.
Loading
Jump to
Jump to file
Failed to load files.
Loading
Diff view
Diff view
4 changes: 4 additions & 0 deletions tesseract_ros_examples/launch/car_seat_example.launch
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -4,6 +4,8 @@
<arg name="robot_description" default="robot_description"/>
<arg name="plotting" default="true"/>
<arg name="rviz" default="true"/>
<arg name="ifopt" default="false"/>
<arg name="debug" default="false"/>
<arg name="testing" default="false"/>

<!-- Load universal robot description format (URDF) -->
Expand All @@ -19,6 +21,8 @@
<node pkg="tesseract_ros_examples" exec="tesseract_ros_examples_car_seat_example_node" name="tesseract_ros_examples_car_seat_example_node" output="screen">
<param name="plotting" type="bool" value="$(var plotting)"/>
<param name="rviz" type="bool" value="$(var rviz)"/>
<param name="ifopt" type="bool" value="$(var ifopt)"/>
<param name="debug" type="bool" value="$(var debug)"/>
<param name="$(var robot_description)" value="$(var robot_description_file)" type="str"/>
<param name="$(var robot_description)_semantic" value="$(var robot_description_semantic_file)" type="str"/>
</node>
Expand Down
4 changes: 4 additions & 0 deletions tesseract_ros_examples/launch/freespace_hybrid_example.launch
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -5,6 +5,8 @@
<arg name="robot_description" default="robot_description"/>
<arg name="plotting" default="true"/>
<arg name="rviz" default="true"/>
<arg name="ifopt" default="false"/>
<arg name="debug" default="false"/>
<arg name="testing" default="false"/>
<arg name="range" default="0.01"/>
<arg name="planning_time" default="10.0"/>
Expand All @@ -22,6 +24,8 @@
<node pkg="tesseract_ros_examples" exec="tesseract_ros_examples_freespace_hybrid_example_node" output="screen">
<param name="plotting" type="bool" value="$(var plotting)"/>
<param name="rviz" type="bool" value="$(var rviz)"/>
<param name="ifopt" type="bool" value="$(var ifopt)"/>
<param name="debug" type="bool" value="$(var debug)"/>
<param name="range" type="float" value="$(var range)"/>
<param name="planning_time" type="float" value="$(var planning_time)"/>
<param name="$(var robot_description)" value="$(var robot_description_file)" type="str"/>
Expand Down
6 changes: 5 additions & 1 deletion tesseract_ros_examples/launch/pick_and_place_example.launch
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -8,6 +8,8 @@
<arg name="box_x" default="0.15"/>
<arg name="box_y" default="0.4"/>
<arg name="rviz" default="true"/>
<arg name="ifopt" default="false"/>
<arg name="debug" default="false"/>
<arg name="testing" default="false"/>

<!-- Load Robot Model -->
Expand All @@ -27,8 +29,10 @@
<param name="plotting" type="bool" value="$(var plotting)"/>
<param name="file_write_cb" value="$(var file_write_cb)" />
<param name="rviz" type="bool" value="$(var rviz)"/>
<param name="ifopt" type="bool" value="$(var ifopt)"/>
<param name="debug" type="bool" value="$(var debug)"/>
<param name="$(var robot_description)" value="$(var robot_description_file)" type="str"/>
<param name="$(var robot_description)_semantic" value="$(var robot_description_semantic_file)" type="str"/>
<param name="$(var robot_description)_semantic" value="$(var robot_description_semantic_file)" type="str"/>
</node>

<!-- Launch visualization -->
Expand Down
4 changes: 4 additions & 0 deletions tesseract_ros_examples/launch/puzzle_piece_auxillary_axes_example.launch
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -5,6 +5,8 @@
<arg name="robot_description" default="robot_description"/>
<arg name="plotting" default="true"/>
<arg name="rviz" default="true"/>
<arg name="ifopt" default="false"/>
<arg name="debug" default="false"/>
<arg name="testing" default="false"/>

<!-- Load universal robot description format (URDF) -->
Expand All @@ -20,6 +22,8 @@
<node pkg="tesseract_ros_examples" exec="tesseract_ros_examples_puzzle_piece_auxillary_axes_example_node" output="screen">
<param name="plotting" type="bool" value="$(var plotting)"/>
<param name="rviz" type="bool" value="$(var rviz)"/>
<param name="ifopt" type="bool" value="$(var ifopt)"/>
<param name="debug" type="bool" value="$(var debug)"/>
<param name="$(var robot_description)" value="$(var robot_description_file)" type="str"/>
<param name="$(var robot_description)_semantic" value="$(var robot_description_semantic_file)" type="str"/>
</node>
Expand Down
4 changes: 4 additions & 0 deletions tesseract_ros_examples/launch/puzzle_piece_example.launch
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -5,6 +5,8 @@
<arg name="robot_description" default="robot_description"/>
<arg name="plotting" default="true"/>
<arg name="rviz" default="true"/>
<arg name="ifopt" default="false"/>
<arg name="debug" default="false"/>
<arg name="testing" default="false"/>

<!-- Load universal robot description format (URDF) -->
Expand All @@ -20,6 +22,8 @@
<node pkg="tesseract_ros_examples" exec="tesseract_ros_examples_puzzle_piece_example_node" output="screen">
<param name="plotting" type="bool" value="$(var plotting)"/>
<param name="rviz" type="bool" value="$(var rviz)"/>
<param name="ifopt" type="bool" value="$(var ifopt)"/>
<param name="debug" type="bool" value="$(var debug)"/>
<param name="$(var robot_description)" value="$(var robot_description_file)" type="str"/>
<param name="$(var robot_description)_semantic" value="$(var robot_description_semantic_file)" type="str"/>
</node>
Expand Down
9 changes: 8 additions & 1 deletion tesseract_ros_examples/src/car_seat_example_node.cpp
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -54,11 +54,18 @@ int main(int argc, char** argv)
// Get ROS Parameters
bool plotting = node->declare_parameter("plotting", true);
bool rviz = node->declare_parameter("rviz", true);
bool ifopt = node->declare_parameter("ifopt", false);
bool debug = node->declare_parameter("debug", false);

// Initial setup
std::string urdf_xml_string = node->declare_parameter(ROBOT_DESCRIPTION_PARAM, "");
std::string srdf_xml_string = node->declare_parameter(ROBOT_SEMANTIC_PARAM, "");

if (ifopt)
{
RCLCPP_INFO(node->get_logger(), "Using TrajOpt Ifopt!");
}

auto env = std::make_shared<tesseract_environment::Environment>();
auto locator = std::make_shared<tesseract_rosutils::ROSResourceLocator>();
if (!env->init(urdf_xml_string, srdf_xml_string, locator))
Expand All @@ -75,7 +82,7 @@ int main(int argc, char** argv)
if (plotting)
plotter = std::make_shared<ROSPlotting>(env->getSceneGraph()->getRoot());

CarSeatExample example(env, plotter);
CarSeatExample example(env, plotter, ifopt, debug);
rclcpp::sleep_for(std::chrono::duration_cast<std::chrono::nanoseconds>(std::chrono::duration<double>(5.0)));

example.run();
Expand Down
9 changes: 8 additions & 1 deletion tesseract_ros_examples/src/freespace_hybrid_example_node.cpp
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -54,13 +54,20 @@ int main(int argc, char** argv)
// Get ROS Parameters
bool plotting = node->declare_parameter("plotting", true);
bool rviz = node->declare_parameter("rviz", true);
bool ifopt = node->declare_parameter("ifopt", false);
bool debug = node->declare_parameter("debug", false);
double range = node->declare_parameter("range", 0.01);
double planning_time = node->declare_parameter("planning_time", 60.0);

// Initial setup
std::string urdf_xml_string = node->declare_parameter(ROBOT_DESCRIPTION_PARAM, "");
std::string srdf_xml_string = node->declare_parameter(ROBOT_SEMANTIC_PARAM, "");

if (ifopt)
{
RCLCPP_INFO(node->get_logger(), "Using TrajOpt Ifopt!");
}

auto env = std::make_shared<tesseract_environment::Environment>();
auto locator = std::make_shared<tesseract_rosutils::ROSResourceLocator>();
if (!env->init(urdf_xml_string, srdf_xml_string, locator))
Expand All @@ -77,7 +84,7 @@ int main(int argc, char** argv)
if (plotting)
plotter = std::make_shared<ROSPlotting>(env->getSceneGraph()->getRoot());

FreespaceHybridExample example(env, plotter, range, planning_time);
FreespaceHybridExample example(env, plotter, ifopt, debug, range, planning_time);
rclcpp::sleep_for(std::chrono::duration_cast<std::chrono::nanoseconds>(std::chrono::duration<double>(5.0)));

example.run();
Expand Down
9 changes: 8 additions & 1 deletion tesseract_ros_examples/src/pick_and_place_example_node.cpp
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -54,11 +54,18 @@ int main(int argc, char** argv)
// Get ROS Parameters
bool plotting = node->declare_parameter("plotting", true);
bool rviz = node->declare_parameter("rviz", true);
bool ifopt = node->declare_parameter("ifopt", false);
bool debug = node->declare_parameter("debug", false);

// Initial setup
std::string urdf_xml_string = node->declare_parameter(ROBOT_DESCRIPTION_PARAM, "");
std::string srdf_xml_string = node->declare_parameter(ROBOT_SEMANTIC_PARAM, "");

if (ifopt)
{
RCLCPP_INFO(node->get_logger(), "Using TrajOpt Ifopt!");
}

auto env = std::make_shared<tesseract_environment::Environment>();
auto locator = std::make_shared<tesseract_rosutils::ROSResourceLocator>();
if (!env->init(urdf_xml_string, srdf_xml_string, locator))
Expand All @@ -75,7 +82,7 @@ int main(int argc, char** argv)
if (plotting)
plotter = std::make_shared<ROSPlotting>(env->getSceneGraph()->getRoot());

PickAndPlaceExample example(env, plotter);
PickAndPlaceExample example(env, plotter, ifopt, debug);
rclcpp::sleep_for(std::chrono::duration_cast<std::chrono::nanoseconds>(std::chrono::duration<double>(5.0)));

example.run();
Expand Down
9 changes: 8 additions & 1 deletion tesseract_ros_examples/src/puzzle_piece_auxillary_axes_example_node.cpp
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -54,11 +54,18 @@ int main(int argc, char** argv)
// Get ROS Parameters
bool plotting = node->declare_parameter("plotting", true);
bool rviz = node->declare_parameter("rviz", true);
bool ifopt = node->declare_parameter("ifopt", false);
bool debug = node->declare_parameter("debug", false);

// Initial setup
std::string urdf_xml_string = node->declare_parameter(ROBOT_DESCRIPTION_PARAM, "");
std::string srdf_xml_string = node->declare_parameter(ROBOT_SEMANTIC_PARAM, "");

if (ifopt)
{
RCLCPP_INFO(node->get_logger(), "Using TrajOpt Ifopt!");
}

auto env = std::make_shared<tesseract_environment::Environment>();
auto locator = std::make_shared<tesseract_rosutils::ROSResourceLocator>();
if (!env->init(urdf_xml_string, srdf_xml_string, locator))
Expand All @@ -75,7 +82,7 @@ int main(int argc, char** argv)
if (plotting)
plotter = std::make_shared<ROSPlotting>(env->getSceneGraph()->getRoot());

PuzzlePieceAuxillaryAxesExample example(env, plotter);
PuzzlePieceAuxillaryAxesExample example(env, plotter, ifopt, debug);
rclcpp::sleep_for(std::chrono::duration_cast<std::chrono::nanoseconds>(std::chrono::duration<double>(5.0)));

example.run();
Expand Down
9 changes: 8 additions & 1 deletion tesseract_ros_examples/src/puzzle_piece_example_node.cpp
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -54,11 +54,18 @@ int main(int argc, char** argv)
// Get ROS Parameters
bool plotting = node->declare_parameter("plotting", true);
bool rviz = node->declare_parameter("rviz", true);
bool ifopt = node->declare_parameter("ifopt", false);
bool debug = node->declare_parameter("debug", false);

// Initial setup
std::string urdf_xml_string = node->declare_parameter(ROBOT_DESCRIPTION_PARAM, "");
std::string srdf_xml_string = node->declare_parameter(ROBOT_SEMANTIC_PARAM, "");

if (ifopt)
{
RCLCPP_INFO(node->get_logger(), "Using TrajOpt Ifopt!");
}

auto env = std::make_shared<tesseract_environment::Environment>();
auto locator = std::make_shared<tesseract_rosutils::ROSResourceLocator>();
if (!env->init(urdf_xml_string, srdf_xml_string, locator))
Expand All @@ -75,7 +82,7 @@ int main(int argc, char** argv)
if (plotting)
plotter = std::make_shared<ROSPlotting>(env->getSceneGraph()->getRoot());

PuzzlePieceExample example(env, plotter);
PuzzlePieceExample example(env, plotter, ifopt, debug);
rclcpp::sleep_for(std::chrono::duration_cast<std::chrono::nanoseconds>(std::chrono::duration<double>(5.0)));

example.run();
Expand Down
Loading