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Levi-ArmstrongLevi-Armstrong
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Update leverage new graph taskflow
1 parent 60b3384 commit af0ec87

9 files changed

+6
-19
lines changed

‎dependencies.rosinstall‎

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@@ -13,7 +13,7 @@
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- git:
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local-name: tesseract_planning
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uri: https://github.com/ros-industrial-consortium/tesseract_planning.git
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version: 0.6.2
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version: 0.6.3
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- git:
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local-name: descartes_light
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uri: https://github.com/swri-robotics/descartes_light.git

‎dependencies_with_ext.rosinstall‎

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@@ -17,7 +17,7 @@
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- git:
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local-name: tesseract_planning
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uri: https://github.com/ros-industrial-consortium/tesseract_planning.git
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version: 0.6.2
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version: 0.6.3
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- git:
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local-name: descartes_light
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uri: https://github.com/swri-robotics/descartes_light.git

‎tesseract_ros_examples/src/basic_cartesian_example.cpp‎

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@@ -40,7 +40,6 @@ TESSERACT_COMMON_IGNORE_WARNINGS_POP
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#include <tesseract_rosutils/utils.h>
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#include <tesseract_command_language/command_language.h>
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#include <tesseract_command_language/utils/utils.h>
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#include <tesseract_process_managers/taskflow_generators/trajopt_taskflow.h>
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#include <tesseract_process_managers/core/process_planning_server.h>
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#include <tesseract_process_managers/core/default_process_planners.h>
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#include <tesseract_planning_server/tesseract_planning_server.h>

‎tesseract_ros_examples/src/freespace_hybrid_example.cpp‎

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@@ -36,7 +36,6 @@ TESSERACT_COMMON_IGNORE_WARNINGS_POP
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#include <tesseract_command_language/command_language.h>
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#include <tesseract_command_language/profile_dictionary.h>
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#include <tesseract_command_language/utils/utils.h>
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#include <tesseract_process_managers/taskflow_generators/freespace_taskflow.h>
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#include <tesseract_planning_server/tesseract_planning_server.h>
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#include <tesseract_motion_planners/ompl/profile/ompl_default_plan_profile.h>
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#include <tesseract_motion_planners/core/utils.h>

‎tesseract_ros_examples/src/freespace_ompl_example.cpp‎

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@@ -35,7 +35,6 @@ TESSERACT_COMMON_IGNORE_WARNINGS_POP
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#include <tesseract_rosutils/utils.h>
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#include <tesseract_command_language/command_language.h>
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#include <tesseract_command_language/utils/utils.h>
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#include <tesseract_process_managers/taskflow_generators/ompl_taskflow.h>
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#include <tesseract_planning_server/tesseract_planning_server.h>
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#include <tesseract_motion_planners/ompl/profile/ompl_default_plan_profile.h>
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#include <tesseract_motion_planners/core/utils.h>

‎tesseract_ros_examples/src/glass_upright_example.cpp‎

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@@ -35,7 +35,6 @@ TESSERACT_COMMON_IGNORE_WARNINGS_POP
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#include <tesseract_rosutils/utils.h>
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#include <tesseract_command_language/command_language.h>
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#include <tesseract_command_language/utils/utils.h>
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#include <tesseract_process_managers/taskflow_generators/trajopt_taskflow.h>
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#include <tesseract_planning_server/tesseract_planning_server.h>
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#include <tesseract_motion_planners/core/utils.h>
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#include <tesseract_visualization/markers/toolpath_marker.h>

‎tesseract_ros_examples/src/pick_and_place_example.cpp‎

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@@ -39,7 +39,6 @@ TESSERACT_COMMON_IGNORE_WARNINGS_POP
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#include <tesseract_command_language/command_language.h>
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#include <tesseract_command_language/utils/utils.h>
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#include <tesseract_command_language/utils/get_instruction_utils.h>
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#include <tesseract_process_managers/taskflow_generators/trajopt_taskflow.h>
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#include <tesseract_planning_server/tesseract_planning_server.h>
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#include <tesseract_visualization/markers/toolpath_marker.h>
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‎tesseract_ros_examples/src/puzzle_piece_auxillary_axes_example.cpp‎

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@@ -36,11 +36,11 @@ TESSERACT_COMMON_IGNORE_WARNINGS_POP
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#include <tesseract_command_language/command_language.h>
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#include <tesseract_command_language/types.h>
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#include <tesseract_command_language/utils/utils.h>
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#include <tesseract_process_managers/taskflow_generators/trajopt_taskflow.h>
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#include <tesseract_motion_planners/trajopt/profile/trajopt_default_plan_profile.h>
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#include <tesseract_motion_planners/trajopt/profile/trajopt_default_composite_profile.h>
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#include <tesseract_motion_planners/trajopt/profile/trajopt_default_solver_profile.h>
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#include <tesseract_motion_planners/core/utils.h>
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#include <tesseract_process_managers/core/default_process_planners.h>
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#include <tesseract_planning_server/tesseract_planning_server.h>
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#include <tesseract_visualization/markers/toolpath_marker.h>
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@@ -217,11 +217,7 @@ bool PuzzlePieceAuxillaryAxesExample::run()
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// Create a trajopt taskflow without post collision checking
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/** @todo This matches the original example, but should update to include post collision check */
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const std::string new_planner_name = "TRAJOPT_NO_POST_CHECK";
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tesseract_planning::TrajOptTaskflowParams params;
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params.enable_post_contact_discrete_check = false;
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params.enable_post_contact_continuous_check = false;
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planning_server.registerProcessPlanner(new_planner_name,
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std::make_unique<tesseract_planning::TrajOptTaskflow>(params));
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planning_server.registerProcessPlanner(new_planner_name, tesseract_planning::createTrajOptGenerator(true, false));
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// Create TrajOpt Profile
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auto trajopt_plan_profile = std::make_shared<tesseract_planning::TrajOptDefaultPlanProfile>();

‎tesseract_ros_examples/src/puzzle_piece_example.cpp‎

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Original file line numberDiff line numberDiff line change
@@ -36,11 +36,11 @@ TESSERACT_COMMON_IGNORE_WARNINGS_POP
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#include <tesseract_command_language/command_language.h>
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#include <tesseract_command_language/types.h>
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#include <tesseract_command_language/utils/utils.h>
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#include <tesseract_process_managers/taskflow_generators/trajopt_taskflow.h>
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#include <tesseract_motion_planners/trajopt/profile/trajopt_default_plan_profile.h>
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#include <tesseract_motion_planners/trajopt/profile/trajopt_default_composite_profile.h>
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#include <tesseract_motion_planners/trajopt/profile/trajopt_default_solver_profile.h>
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#include <tesseract_motion_planners/core/utils.h>
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#include <tesseract_process_managers/core/default_process_planners.h>
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#include <tesseract_planning_server/tesseract_planning_server.h>
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#include <tesseract_visualization/markers/toolpath_marker.h>
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@@ -213,11 +213,7 @@ bool PuzzlePieceExample::run()
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// Create a trajopt taskflow without post collision checking
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/** @todo This matches the original example, but should update to include post collision check */
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const std::string new_planner_name = "TRAJOPT_NO_POST_CHECK";
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tesseract_planning::TrajOptTaskflowParams params;
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params.enable_post_contact_discrete_check = false;
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params.enable_post_contact_continuous_check = false;
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planning_server.registerProcessPlanner(new_planner_name,
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std::make_unique<tesseract_planning::TrajOptTaskflow>(params));
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planning_server.registerProcessPlanner(new_planner_name, tesseract_planning::createTrajOptGenerator(true, false));
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// Create TrajOpt Profile
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auto trajopt_plan_profile = std::make_shared<tesseract_planning::TrajOptDefaultPlanProfile>();

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