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ros-industrial-consortium / descartes

ROS-Industrial Special Project: Cartesian Path Planner
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MoveIt-State-Adapter RobotState handling improvements #164

Closed Jmeyer1292 closed 8 years ago

Jmeyer1292 commented 8 years ago

Related to #161, #130.

This PR:

  1. Removes checks on accelerations/velocities that do not currently serve a purpose
  2. Refactors the isValid function to hopefully work with a wider range of MoveIt robots (e.g. those that have passive joints or extra joints not in the move-group being planned for).
  3. Adds a setState function to the two moveit robot models that allows a user to set the initial state for the planner. This enables a user to plan with robots that have additional joints before the desired planning group. You could, for example, set the position of a rail, get the proper transforms, and then plan for the 6 DOF robot ontop.

No performance regressions (in fact a small improvement), and the basic tests and robot models I have work.

I'll come up with some extras to test.

Jmeyer1292 commented 8 years ago

@jrgnicho please have a look. This one is straightforward, I think.

Jmeyer1292 commented 8 years ago

@jrgnicho I changed both asserts to ROS_ASSERT messages. Do you have any other concerns?