Ports moveit #3676 and #3682 (backport #3283) #3318
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* Use separate callback queue + spinner for ExecuteTrajectoryAction (#3676) This allows parallel execution + planning. Also required modifying updateSceneWithCurrentState() to allow skipping a scene update with a new robot state (from CurrentStateMonitor), if the planning scene is currently locked (due to planning). Otherwise, the CurrentStateMonitor would block too. Co-authored-by: Robert Haschke <[email protected]> * PSM: simplify state_update_pending_ (#3682) * Move update of state_update_pending_ to updateSceneWithCurrentState() * Revert to try_lock While there are a few other locks except explicit user locks (getPlanningSceneServiceCallback(), collisionObjectCallback(), attachObjectCallback(), newPlanningSceneCallback(), and scenePublishingThread()), these occur rather seldom (scenePublishingThread() publishes at 2Hz). Hence, we might indeed balance a non-blocking CSM vs. missed PS updates in favour of CSM. * Don't block for scene update from stateUpdateTimerCallback too The timer callback and CSM's state update callbacks are served from the same callback queue, which would block CSM again. * further locking adaptations reading dt_state_update_ and last_robot_state_update_wall_time_ does not lead to logic errors, but at most to a skipped or redundant update on corrupted data. Alternatively we could be on the safe side and turn both variables into std::atomic, but that would effectively mean locks on every read. Instead, only set state_update_pending_ as an atomic, which is lockfree in this case. Co-authored-by: Michael Görner <[email protected]> * Ports changes to ROS2. --------- Co-authored-by: Robert Haschke <[email protected]> Co-authored-by: Robert Haschke <[email protected]> Co-authored-by: Michael Görner <[email protected]> Co-authored-by: Sebastian Castro <[email protected]> Co-authored-by: Sebastian Jahr <[email protected]> (cherry picked from commit ba35aaa)
sea-bass
approved these changes
Feb 6, 2025
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Codecov ReportAttention: Patch coverage is
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## jazzy #3318 +/- ##
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- Coverage 44.49% 44.11% -0.37%
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Files 700 700
Lines 61689 61660 -29
Branches 7474 7473 -1
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- Hits 27442 27195 -247
- Misses 34079 34297 +218
Partials 168 168 ☔ View full report in Codecov by Sentry. |
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This is an automatic backport of pull request #3283 done by [Mergify](https://mergify.com).