If an exception occurs while the GIL is released, it won't be reacquired and the stack unwinding will take place
without the GIL. GILReleaser::release() and GILReleaser::reacquire() is removed, because it is unsafe.

* Move last_sent_command_ update from constructor to start
* Tweak demo configs
* Add install folders to CMakeLists
* Add clarity to parameter warning

* Add a utility for logging collision pairs
* Update printing style, rename function, move constants into the struct

Otherwise, we get entries like this in ompl_planning.yaml, where "None", of course, is not a valid planner config:

arm:
    default_planner_config: None

* Rework velocity limit enforcement, add unit test

* Test every command out of Servo

* Minor variable renaming

* Clang format & clang tidy

* Delete unused acceleration variable

... to correctly rewrite shebang

It was just performing the operations of the default operator. Newer clang requires either both or none of copy constructor and assignment operator to be defined.

warning: definition of implicit copy constructor for 'DistanceResultsData' is deprecated because it has a user-declared copy assignment operator [-Wdeprecated-copy]

* Enable/disable "Clear Octomap" button
* Correctly remove octomap from scene in clearOctomap()

…ailure condition. (#2336)

Group Editing: Cancel falls back to previous screen

When entering joints/links/chain/subgroup edit screen from "Add Group" screen,
cancel was cancelling the whole operation, loosing all info that was already entered for the group.
Now it just returns to the previous screen and thus allows to continue editing the new group.

* A library for servoing toward a moving pose

* Use the control_toolbox version of PID control

* Minor cleanup after switching to control_toolbox PID

* Use default ROS1 library type

* Decrease the default windup limit

* Add a basic unit test

* Add orientation tracking, too

* Warning if no target pose is provided

* One PID for orientation instead of 3

* A different method of ensuring a new target pose is received

* Multithread the test pose publisher

* Correct service namespaces

* Clang format and clang tidy

* Minor tweaks for CI

* Add function to update PID settings

* Add a method to get PID errors

* Be consistent with service namespacing

This is important if there are multiple arms Servoing simultaneously

* Address Adam's more minor comments

* First attempt at using pose tracking

* Small updates to launch files and CMakeLists

* Address Andy comments

* Get Pose Tracking demo working (#3)

* Rework command frame name and target pose

* Add EE frame tf and make it available thru C++ interface

* Pass getEEFrameTransform thru PoseTracking

* Update TF calcs at servo start

* Modify pose demo to move slightly from current position

* Make PoseTracking use EE tf instead of command frame tf

* Clean up the demo

* Make helper func for converting eigen to tf message

* Make the Servo instance public, to access functions like setPaused()

* Use an enum class for status codes, so entries can be duplicated

* Add a timeout argument

* Clang format

* Fix a race condition with initial joint reception

* Update config file for testing

* Wrap tf lookup in a try/catch block

* Use a tf2 utility for Eigen->msg conversion

* Explicitly initialize transforms to zero

* More robust test setup

* Update the command frame at runtime

* Update angular PID configs, too

* Properly wait for test setup

Co-authored-by: AdamPettinger <[email protected]>

* implement get state and get state bounded

* add enforceBounds

Co-authored-by: Peter <[email protected]>

converting tabs to spaces

* Publish services correctly in the namespace of the node.

* Set relative joint state topic names be relative to the parent namespace of the servo node.

* Make parameter sub-namespace optional. By default load the parameters into node namespace.

* Fix node handles for the servo server node and the cpp interface example to use node namespace instead of the parent namespace.

* Fix formatting

* Reading ee_frame_name parameter got lost somewhere along the way. Add it back.

* Remove explicit parameter_ns variables and used namespaced node handles instead.

* Fix internal namespace to truly be internal even in case where two or more Servo instances are launched from a single node.

* Fix command_out_topic parameter in ur_simulated_config.yaml example config.

* Apply namespacing fixes also to tests.

* Shorten the comment about joint states topic names.

- better use of space / overall smaller panel

- remove goal constraints field, it's not used and not intuitive in the GUI either

- reorder check boxes by subjective usefulness

- Add better tooltips

- Remove autoScroll from Planning Parameters field

- Fix tabstop order

- Align columns of Planning tab

Co-authored-by: Robert Haschke <[email protected]>

rviz more stricly checks marker parameters and thus issues this warning
if mesh_use_embedded_materials was set although no mesh_resource was specified

* Add Pilz industrial motion planner (#1893)

* Add pilz_industrial_motion_planner to moveit_planners
* Update license, document consent to this change by contributers
* Fix formatting, code style, catkin_lint, clang-tidy
* Add and update tests, use new prvt_moveit_config from moveit_resources
* New codeowners for pilz_industrial_motion planner
* Add pipeline configuration teimplates to MSA

* Fix file not found error (adjust to melodic `moveit::core::PlanningScene::isEmpty()` functions)

Co-authored-by: Christian Henkel <[email protected]>
Co-authored-by: Joachim Schleicher <[email protected]>
Co-authored-by: rfeistenauer <[email protected]>
Co-authored-by: Giuseppe Sansone <[email protected]>

Co-authored-by: Rojas Rafael <[email protected]>

* Stop rewriting target_pose_ timestamps. It is caller's responsibility to ensure timestamp is correct and recent enough.

* Prevent data races on target_pose_ by limiting access to it with a mutex.

* Re-arrange part in targetPoseCallback function to make the callback lightweight when the target pose is in planning frame.

* Small improvements to comments and code readability.

* Set mutex as mutable.

* Fix formatting.

* Improve comment re. angle-axis PID tracking

* Implement resetTargetPose() and add it to test & example

* Add mutex protection to resetTargetPose()

* Add missing semicolon and fix formatting.

Co-authored-by: AndyZe <[email protected]>

…2392)

#2412)

Co-authored-by: AndyZe <[email protected]>

* Fix OrientationConstraint::decide

* Add new test case for OrientationConstraintsSimple

* Add comments for clarity

…eout (#2418)

to suppress CMP0048 warning

* Fix doxygen documentation for setToIKSolverFrame

* "Convert" -> "Transform"

* Make function private. Update comments.

* Make inline and private

* Longer function should not be inline

Co-authored-by: Robert Haschke <[email protected]>

Co-authored-by: Robert Haschke <[email protected]>

… template (#2455)

Co-authored-by: AndyZe <[email protected]>
Co-authored-by: Bjar Ne <[email protected]>

…2478)

* Refactor/fix Servo enforceVelLimits function to utilize joint velocity limits correctly.

* Use uniform scaling factor instead of joint specific velocity bounds.

* Move joint increment outside of if()

* Add friend test for velocity limits

* Clean up debug code, clang format

* Test for negative velocities, too

* Apply velocity scaling correctly and skip clamping zero velocities.

* Improve enforceVelLimits unit tests.

* Use EXPECT_NEAR in the new unit test

Co-authored-by: AndyZe <[email protected]>

add debugging informative log statement for a common error

Co-authored-by: Peter Mitrano <pmitrano@armstorm>

add get_active_joint_names and getActiveJointModelNames to Python and C++, respectively.

To keep calling costs constant we add the additional vector<string> to the RobotModel class.

Co-authored-by: Peter Mitrano <pmitrano@armstorm>

The method used UPDATE_SCENE which caused a full scene to be transmitted.
But only the octomap is modified, so UPDATE_GEOMETRY suffices.

Also add comment about necessary scoping of non-recursive lock.