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Waypoint Definition Update #125

Merged
merged 5 commits into from
Oct 2, 2019
Merged

Waypoint Definition Update #125

merged 5 commits into from
Oct 2, 2019

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marip8
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@marip8 marip8 commented Sep 17, 2019

This PR updates the waypoint definitions:

  • Cartesian: adds string for link to which the waypoint transform is relative
  • JointToleranced: inherits from the Joint waypoint

Corresponds to trajopt_ros PR 130

@marip8 marip8 mentioned this pull request Sep 17, 2019
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@marip8 marip8 force-pushed the update/waypoint_definition branch from a3c9b7b to 664456a Compare September 17, 2019 04:37
@Levi-Armstrong
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Also CI has two failures in tesseract_ros_examples.

@marip8 marip8 force-pushed the update/waypoint_definition branch from 664456a to df14046 Compare September 20, 2019 14:25
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marip8 commented Sep 20, 2019

@Levi-Armstrong as mentioned in the description, this PR depends on trajopt_ros PR 130. I'll restart the build for this PR once the TrajOpt one is merged, otherwise the tests will continue to fail

@marip8 marip8 mentioned this pull request Sep 30, 2019
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@marip8 marip8 force-pushed the update/waypoint_definition branch from df14046 to e81b270 Compare September 30, 2019 20:24
@marip8 marip8 force-pushed the update/waypoint_definition branch from 3a6ea26 to 184f767 Compare October 1, 2019 19:21
@Levi-Armstrong
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@marip8 I created a PR against your branch updating the trajopt planners to set the target based on the cart waypoint parent link.

Also, Descartes needs to be updated to use the cart waypoint parent link name.

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marip8 commented Oct 2, 2019

@Levi-Armstrong the changes you provided in that PR are addressed in #126 where I added the same changes to the utility that creates the trajopt::TermInfo for Cartesian waypoints. My suggestion regarding your PR is to hold off because both of those planners your PR modifies were removed in #126.

@Levi-Armstrong Levi-Armstrong merged commit 89888fb into tesseract-robotics:master Oct 2, 2019
@mpowelson mpowelson mentioned this pull request Oct 3, 2019
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@marip8 marip8 deleted the update/waypoint_definition branch October 22, 2019 21:05
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@marip8 @Levi-Armstrong