Sync main to 7.0 #87
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Sync main to 7.0 #87
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The MTC plan's computational complexity increases exponentially when several MoveToPose stages, each with multiple solutions are stacked on top of each other. Using PlanCartesianPath with a validation step to ensure no collisions is a much less computationally complex way to navigate through poses.
Correct typo in scan scene description
…lay-motion Don't use MTC in Plan and Save Trajectory objective
These new behaviors expose more planning parameters for the Pro RRT Connect planner. Replace: * `SetupMTCMoveToPose` -> `SetupMTCPlanToPose` * `SetupMTCMoveToJointState` -> `SetupMTCPlanToJointState` Update planning configuration ports: * Remove deprecated `planner_interface` port. * use `keep_orientation` and `keep_orientation_tolerance` ports instead of `constraints` port * Lower `link_padding` where it causes self collisions
Use new Pro RRT SetupMTCPlanTo_ behaviors
Fix JointDiagnostic Objective
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This will break functionality, as it depends on https://github.com/PickNikRobotics/moveit_pro/pull/10001 |
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@jeremydbronson I'm hoping to find a better approach to this, but for now we have to make sure main is merged to v7.0 after each release candidate is branched and before testing.
There are a few more updates to main I want to merge in, but before you QA the next
rc, lets merge this in