From 93b46ef21429bc91c8afa1b79479d302764b1e9d Mon Sep 17 00:00:00 2001 From: Robert Haschke <rhaschke@techfak.uni-bielefeld.de> Date: Sat, 28 Jan 2023 01:06:21 +0100 Subject: [PATCH 1/2] GeneratePose: forward registered properties from received solution --- core/src/stages/generate_pose.cpp | 5 ++++- 1 file changed, 4 insertions(+), 1 deletion(-) diff --git a/core/src/stages/generate_pose.cpp b/core/src/stages/generate_pose.cpp index 8315bc955..5a0f033d4 100644 --- a/core/src/stages/generate_pose.cpp +++ b/core/src/stages/generate_pose.cpp @@ -70,7 +70,9 @@ void GeneratePose::compute() { if (upstream_solutions_.empty()) return; - planning_scene::PlanningScenePtr scene = upstream_solutions_.pop()->end()->scene()->diff(); + const SolutionBase& s = *upstream_solutions_.pop(); + planning_scene::PlanningSceneConstPtr scene = s.end()->scene()->diff(); + geometry_msgs::PoseStamped target_pose = properties().get<geometry_msgs::PoseStamped>("pose"); if (target_pose.header.frame_id.empty()) target_pose.header.frame_id = scene->getPlanningFrame(); @@ -80,6 +82,7 @@ void GeneratePose::compute() { } InterfaceState state(scene); + forwardProperties(*s.end(), state); // forward registered properties from received solution state.properties().set("target_pose", target_pose); SubTrajectory trajectory; From 49b3bd0d568409955357fca3b636a097020464e4 Mon Sep 17 00:00:00 2001 From: Robert Haschke <rhaschke@techfak.uni-bielefeld.de> Date: Thu, 2 Feb 2023 10:02:45 +0100 Subject: [PATCH 2/2] ros1-0.1.0 --- capabilities/CHANGELOG.rst | 8 ++++++++ capabilities/package.xml | 2 +- core/CHANGELOG.rst | 8 ++++++++ core/package.xml | 2 +- demo/CHANGELOG.rst | 8 ++++++++ demo/package.xml | 2 +- msgs/CHANGELOG.rst | 8 ++++++++ msgs/package.xml | 2 +- rviz_marker_tools/CHANGELOG.rst | 8 ++++++++ rviz_marker_tools/package.xml | 2 +- visualization/CHANGELOG.rst | 8 ++++++++ visualization/package.xml | 2 +- 12 files changed, 54 insertions(+), 6 deletions(-) create mode 100644 capabilities/CHANGELOG.rst create mode 100644 core/CHANGELOG.rst create mode 100644 demo/CHANGELOG.rst create mode 100644 msgs/CHANGELOG.rst create mode 100644 rviz_marker_tools/CHANGELOG.rst create mode 100644 visualization/CHANGELOG.rst diff --git a/capabilities/CHANGELOG.rst b/capabilities/CHANGELOG.rst new file mode 100644 index 000000000..ad574bdb4 --- /dev/null +++ b/capabilities/CHANGELOG.rst @@ -0,0 +1,8 @@ +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +Changelog for package moveit_task_constructor_capabilities +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + +0.1.0 (2023-02-02) +------------------ +* Initial release +* Contributors: Michael Görner, Robert Haschke diff --git a/capabilities/package.xml b/capabilities/package.xml index 7ae112f2b..e4a99dacc 100644 --- a/capabilities/package.xml +++ b/capabilities/package.xml @@ -1,6 +1,6 @@ <package format="2"> <name>moveit_task_constructor_capabilities</name> - <version>0.0.0</version> + <version>0.1.0</version> <description> MoveGroupCapabilites to interact with MoveIt </description> diff --git a/core/CHANGELOG.rst b/core/CHANGELOG.rst new file mode 100644 index 000000000..2d9e93900 --- /dev/null +++ b/core/CHANGELOG.rst @@ -0,0 +1,8 @@ +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +Changelog for package moveit_task_constructor_core +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + +0.1.0 (2023-02-02) +------------------ +* Initial release +* Contributors: Michael Görner, Robert Haschke, Captain Yoshi, Christian Petersmeier, Henning Kayser, Jafar Abdi, Tyler Weaver diff --git a/core/package.xml b/core/package.xml index 0459fd540..0f8386382 100644 --- a/core/package.xml +++ b/core/package.xml @@ -1,6 +1,6 @@ <package format="3"> <name>moveit_task_constructor_core</name> - <version>0.0.0</version> + <version>0.1.0</version> <description>MoveIt Task Pipeline</description> <url type="website">https://github.com/ros-planning/moveit_task_constructor</url> diff --git a/demo/CHANGELOG.rst b/demo/CHANGELOG.rst new file mode 100644 index 000000000..a7bb7ea3e --- /dev/null +++ b/demo/CHANGELOG.rst @@ -0,0 +1,8 @@ +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +Changelog for package moveit_task_constructor_demo +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + +0.1.0 (2023-02-02) +------------------ +* Initial release +* Contributors: Michael Görner, Robert Haschke diff --git a/demo/package.xml b/demo/package.xml index c4ccda3dc..265813b01 100644 --- a/demo/package.xml +++ b/demo/package.xml @@ -1,7 +1,7 @@ <?xml version="1.0"?> <package format="2"> <name>moveit_task_constructor_demo</name> - <version>0.0.1</version> + <version>0.1.0</version> <description>demo tasks illustrating various capabilities of MTC.</description> <author email="simongold@picknik.ai">simon Goldstein</author> diff --git a/msgs/CHANGELOG.rst b/msgs/CHANGELOG.rst new file mode 100644 index 000000000..7897285ca --- /dev/null +++ b/msgs/CHANGELOG.rst @@ -0,0 +1,8 @@ +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +Changelog for package moveit_task_constructor_msgs +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + +0.1.0 (2023-02-02) +------------------ +* Initial release +* Contributors: Michael Görner, Robert Haschke diff --git a/msgs/package.xml b/msgs/package.xml index f0bf4ec57..00cef36a5 100644 --- a/msgs/package.xml +++ b/msgs/package.xml @@ -1,6 +1,6 @@ <package format="2"> <name>moveit_task_constructor_msgs</name> - <version>0.0.0</version> + <version>0.1.0</version> <description>Messages for MoveIt Task Pipeline</description> <license>BSD</license> diff --git a/rviz_marker_tools/CHANGELOG.rst b/rviz_marker_tools/CHANGELOG.rst new file mode 100644 index 000000000..7d7a83ced --- /dev/null +++ b/rviz_marker_tools/CHANGELOG.rst @@ -0,0 +1,8 @@ +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +Changelog for package rviz_marker_tools +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + +0.1.0 (2023-02-02) +------------------ +* Initial release +* Contributors: Robert Haschke, Michael Görner diff --git a/rviz_marker_tools/package.xml b/rviz_marker_tools/package.xml index 17b0dc408..daab32f0c 100644 --- a/rviz_marker_tools/package.xml +++ b/rviz_marker_tools/package.xml @@ -1,6 +1,6 @@ <package format="2"> <name>rviz_marker_tools</name> - <version>0.0.0</version> + <version>0.1.0</version> <description>Tools for marker creation / handling</description> <license>BSD</license> diff --git a/visualization/CHANGELOG.rst b/visualization/CHANGELOG.rst new file mode 100644 index 000000000..959674a85 --- /dev/null +++ b/visualization/CHANGELOG.rst @@ -0,0 +1,8 @@ +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +Changelog for package moveit_task_constructor_visualization +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + +0.1.0 (2023-02-02) +------------------ +* Initial release +* Contributors: Robert Haschke, Michael Görner diff --git a/visualization/package.xml b/visualization/package.xml index 196503bf6..8a9caefc1 100644 --- a/visualization/package.xml +++ b/visualization/package.xml @@ -1,6 +1,6 @@ <package format="2"> <name>moveit_task_constructor_visualization</name> - <version>0.0.0</version> + <version>0.1.0</version> <description>Visualization tools for MoveIt Task Pipeline</description> <license>BSD</license>