ROS IndexNo version for distro humble showing github. Known supported distros are highlighted in the buttons above.
|
snp_motion_planning package from scan_n_plan_workshop reposnp_application snp_motion_execution snp_motion_planning snp_msgs snp_scanning snp_tpp |
ROS Distro
|
Package Summary
| Tags | No category tags. |
| Version | 6.0.1 |
| License | Apache 2.0 |
| Build type | AMENT_CMAKE |
| Use | RECOMMENDED |
Repository Summary
| Description | |
| Checkout URI | https://github.com/ros-industrial-consortium/scan_n_plan_workshop.git |
| VCS Type | git |
| VCS Version | master |
| Last Updated | 2025-07-24 |
| Dev Status | UNKNOWN |
| Released | UNRELEASED |
| Tags | No category tags. |
| Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
SNP Motion Planning
Additional Links
No additional links.
Maintainers
- Michael Ripperger
Authors
No additional authors.
README
No README found.
See repository README.
CHANGELOG
Changelog for package snp_motion_planning
6.0.1 (2025-06-17)
6.0.0 (2025-04-17)
- Revised motion planning pipelines to not overwrite keys; combined freespace and transition pipelines; updated freespace pipeline to be more robust to failure (#164)
- Add service for adding scan link to motion planning environment (#163)
- Fix go home freespace planning (#162)
- Planner Profile Update
(#161)
- Updated Trajopt profiles to remove velocity smoothing and correctly utilize safety margin and safety margin buffer
- Skip addition of empty links to reduced contact collision pairs
- Updated trajopt profile special collision costs; added collision as a constraint in trajopt profile
- Added LVS length argument to all custom profile generator functions
- Removed unnecessary default values in profile generation functions
- Added convex hull decomposition method for scan mesh (#160)
- Upgrades to Tesseract Version 0.29.X. (#158)
- Contributors: Levi Armstrong, Michael Ripperger
5.0.3 (2024-09-09)
5.0.2 (2024-08-16)
5.0.1 (2024-08-16)
5.0.0 (2024-08-15)
- Working build for latest version of tesseract
(#115)
- Working build for latest version of tesseract (fwd declaration)
- Update plugin status_message fields
- Fix vel and acc limit checking
- Update pipelines
- Clang formatting
- Switch deps to tagged versions
- Fix new trajopt plan parameters
- clang formatting
- Make cartesian tolerance a ROS parameter
- Use tolerance override and set to zeros for cartesian cost
- Check cartesian tolerance vector size
- Add TrajOpt Cartesian coeff as a ROS param
- Contributors: Tyler Marr
4.7.0 (2024-07-25)
4.6.1 (2024-05-29)
4.6.0 (2024-05-29)
- Merge pull request #111 from DavidSpielman/feature/rerun_toolpaths Added Freespace Motion Plan
- Pass joint state as const ref
- Clang formatting
- No longer remove scan link at end of freespace plan, matches process plan
- Make adding mesh optional to motion planning
- Rename process plan callback to be more descriptive
- Ran clang formatting
- Defining manipulator info via server request parameters
- Removed commented lines from planning server
- Fixed typo in planCallback method
- Freespace plan callback in working state. Prev issue: Passing nested composite instruction to freespace task when it expect composite instruction one layer deep
- WIP: planning server fails when freespace motion plan problem is run
- WIP. Update bt node to pass in joint waypoint instead of poly waypoint
- Added freespace motion planning service
- Contributors: David Spielman, Michael Ripperger, Tyler Marr
4.5.0 (2024-05-29)
4.4.1 (2024-05-23)
- Merge pull request #105 from DavidSpielman/pr/dspielman/update/planner-org Updated Planner Organization
- Removed call to remove scan link in planCallback method
- Modified signature of plan method
- Reverted name of raster task name to task name
- Ran clang formatting
- Reorganized planner_server.cpp to simplify motion plan generations
- WIP update organization of planner code
- Contributors: David Spielman, Michael Ripperger
File truncated at 100 lines see the full file
Package Dependencies
| Deps | Name |
|---|---|
| ament_cmake | |
| ament_lint_auto | |
| rclcpp | |
| snp_msgs | |
| std_msgs | |
| tesseract_command_language | |
| tesseract_task_composer | |
| tesseract_monitoring | |
| tesseract_support | |
| tesseract_urdf | |
| tesseract_kinematics | |
| tf2_eigen |
System Dependencies
No direct system dependencies.
Dependant Packages
No known dependants.
Launch files
- launch/planning_server.launch.xml
-
- robot_description
- robot_description_semantic
- verbose [default: False]
- scan_disabled_contact_links [default: ['']]
- scan_reduced_contact_links [default: ['']]
- collision_object_type [default: convex_mesh]
- octree_resolution [default: 0.010]
- max_convex_hulls [default: 64]
- task_composer_config_file [default: $(find-pkg-share snp_motion_planning)/config/task_composer_plugins.yaml]
- raster_task_name [default: SNPPipeline]
- freespace_task_name [default: SNPFreespacePipeline]
- velocity_scaling_factor [default: 1.0]
- acceleration_scaling_factor [default: 1.0]
- max_translational_vel [default: 0.050]
- max_rotational_vel [default: 1.571]
- max_translational_acc [default: 0.100]
- max_rotational_acc [default: 3.14]
- check_joint_accelerations [default: false]
- min_contact_distance [default: 0.0]
- contact_check_lvs_distance [default: 0.05]
- ompl_max_planning_time [default: 5.0]
- tcp_max_speed [default: 0.25]
- cartesian_tolerance [default: [0.01, 0.01, 0.01, 0.05, 0.05, 6.28]]
- cartesian_coefficient [default: [2.5, 2.5, 2.5, 2.5, 2.5, 0.0]]
Messages
No message files found.
Services
No service files found
Plugins
No plugins found.
Recent questions tagged snp_motion_planning at Robotics Stack Exchange
No version for distro jazzy showing github. Known supported distros are highlighted in the buttons above.
|
|
snp_motion_planning package from scan_n_plan_workshop reposnp_application snp_motion_execution snp_motion_planning snp_msgs snp_scanning snp_tpp |
ROS Distro
|
Package Summary
| Tags | No category tags. |
| Version | 6.0.1 |
| License | Apache 2.0 |
| Build type | AMENT_CMAKE |
| Use | RECOMMENDED |
Repository Summary
| Description | |
| Checkout URI | https://github.com/ros-industrial-consortium/scan_n_plan_workshop.git |
| VCS Type | git |
| VCS Version | master |
| Last Updated | 2025-07-24 |
| Dev Status | UNKNOWN |
| Released | UNRELEASED |
| Tags | No category tags. |
| Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
SNP Motion Planning
Additional Links
No additional links.
Maintainers
- Michael Ripperger
Authors
No additional authors.
README
No README found.
See repository README.
CHANGELOG
Changelog for package snp_motion_planning
6.0.1 (2025-06-17)
6.0.0 (2025-04-17)
- Revised motion planning pipelines to not overwrite keys; combined freespace and transition pipelines; updated freespace pipeline to be more robust to failure (#164)
- Add service for adding scan link to motion planning environment (#163)
- Fix go home freespace planning (#162)
- Planner Profile Update
(#161)
- Updated Trajopt profiles to remove velocity smoothing and correctly utilize safety margin and safety margin buffer
- Skip addition of empty links to reduced contact collision pairs
- Updated trajopt profile special collision costs; added collision as a constraint in trajopt profile
- Added LVS length argument to all custom profile generator functions
- Removed unnecessary default values in profile generation functions
- Added convex hull decomposition method for scan mesh (#160)
- Upgrades to Tesseract Version 0.29.X. (#158)
- Contributors: Levi Armstrong, Michael Ripperger
5.0.3 (2024-09-09)
5.0.2 (2024-08-16)
5.0.1 (2024-08-16)
5.0.0 (2024-08-15)
- Working build for latest version of tesseract
(#115)
- Working build for latest version of tesseract (fwd declaration)
- Update plugin status_message fields
- Fix vel and acc limit checking
- Update pipelines
- Clang formatting
- Switch deps to tagged versions
- Fix new trajopt plan parameters
- clang formatting
- Make cartesian tolerance a ROS parameter
- Use tolerance override and set to zeros for cartesian cost
- Check cartesian tolerance vector size
- Add TrajOpt Cartesian coeff as a ROS param
- Contributors: Tyler Marr
4.7.0 (2024-07-25)
4.6.1 (2024-05-29)
4.6.0 (2024-05-29)
- Merge pull request #111 from DavidSpielman/feature/rerun_toolpaths Added Freespace Motion Plan
- Pass joint state as const ref
- Clang formatting
- No longer remove scan link at end of freespace plan, matches process plan
- Make adding mesh optional to motion planning
- Rename process plan callback to be more descriptive
- Ran clang formatting
- Defining manipulator info via server request parameters
- Removed commented lines from planning server
- Fixed typo in planCallback method
- Freespace plan callback in working state. Prev issue: Passing nested composite instruction to freespace task when it expect composite instruction one layer deep
- WIP: planning server fails when freespace motion plan problem is run
- WIP. Update bt node to pass in joint waypoint instead of poly waypoint
- Added freespace motion planning service
- Contributors: David Spielman, Michael Ripperger, Tyler Marr
4.5.0 (2024-05-29)
4.4.1 (2024-05-23)
- Merge pull request #105 from DavidSpielman/pr/dspielman/update/planner-org Updated Planner Organization
- Removed call to remove scan link in planCallback method
- Modified signature of plan method
- Reverted name of raster task name to task name
- Ran clang formatting
- Reorganized planner_server.cpp to simplify motion plan generations
- WIP update organization of planner code
- Contributors: David Spielman, Michael Ripperger
File truncated at 100 lines see the full file
Package Dependencies
| Deps | Name |
|---|---|
| ament_cmake | |
| ament_lint_auto | |
| rclcpp | |
| snp_msgs | |
| std_msgs | |
| tesseract_command_language | |
| tesseract_task_composer | |
| tesseract_monitoring | |
| tesseract_support | |
| tesseract_urdf | |
| tesseract_kinematics | |
| tf2_eigen |
System Dependencies
No direct system dependencies.
Dependant Packages
No known dependants.
Launch files
- launch/planning_server.launch.xml
-
- robot_description
- robot_description_semantic
- verbose [default: False]
- scan_disabled_contact_links [default: ['']]
- scan_reduced_contact_links [default: ['']]
- collision_object_type [default: convex_mesh]
- octree_resolution [default: 0.010]
- max_convex_hulls [default: 64]
- task_composer_config_file [default: $(find-pkg-share snp_motion_planning)/config/task_composer_plugins.yaml]
- raster_task_name [default: SNPPipeline]
- freespace_task_name [default: SNPFreespacePipeline]
- velocity_scaling_factor [default: 1.0]
- acceleration_scaling_factor [default: 1.0]
- max_translational_vel [default: 0.050]
- max_rotational_vel [default: 1.571]
- max_translational_acc [default: 0.100]
- max_rotational_acc [default: 3.14]
- check_joint_accelerations [default: false]
- min_contact_distance [default: 0.0]
- contact_check_lvs_distance [default: 0.05]
- ompl_max_planning_time [default: 5.0]
- tcp_max_speed [default: 0.25]
- cartesian_tolerance [default: [0.01, 0.01, 0.01, 0.05, 0.05, 6.28]]
- cartesian_coefficient [default: [2.5, 2.5, 2.5, 2.5, 2.5, 0.0]]
Messages
No message files found.
Services
No service files found
Plugins
No plugins found.
Recent questions tagged snp_motion_planning at Robotics Stack Exchange
No version for distro kilted showing github. Known supported distros are highlighted in the buttons above.
|
|
snp_motion_planning package from scan_n_plan_workshop reposnp_application snp_motion_execution snp_motion_planning snp_msgs snp_scanning snp_tpp |
ROS Distro
|
Package Summary
| Tags | No category tags. |
| Version | 6.0.1 |
| License | Apache 2.0 |
| Build type | AMENT_CMAKE |
| Use | RECOMMENDED |
Repository Summary
| Description | |
| Checkout URI | https://github.com/ros-industrial-consortium/scan_n_plan_workshop.git |
| VCS Type | git |
| VCS Version | master |
| Last Updated | 2025-07-24 |
| Dev Status | UNKNOWN |
| Released | UNRELEASED |
| Tags | No category tags. |
| Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
SNP Motion Planning
Additional Links
No additional links.
Maintainers
- Michael Ripperger
Authors
No additional authors.
README
No README found.
See repository README.
CHANGELOG
Changelog for package snp_motion_planning
6.0.1 (2025-06-17)
6.0.0 (2025-04-17)
- Revised motion planning pipelines to not overwrite keys; combined freespace and transition pipelines; updated freespace pipeline to be more robust to failure (#164)
- Add service for adding scan link to motion planning environment (#163)
- Fix go home freespace planning (#162)
- Planner Profile Update
(#161)
- Updated Trajopt profiles to remove velocity smoothing and correctly utilize safety margin and safety margin buffer
- Skip addition of empty links to reduced contact collision pairs
- Updated trajopt profile special collision costs; added collision as a constraint in trajopt profile
- Added LVS length argument to all custom profile generator functions
- Removed unnecessary default values in profile generation functions
- Added convex hull decomposition method for scan mesh (#160)
- Upgrades to Tesseract Version 0.29.X. (#158)
- Contributors: Levi Armstrong, Michael Ripperger
5.0.3 (2024-09-09)
5.0.2 (2024-08-16)
5.0.1 (2024-08-16)
5.0.0 (2024-08-15)
- Working build for latest version of tesseract
(#115)
- Working build for latest version of tesseract (fwd declaration)
- Update plugin status_message fields
- Fix vel and acc limit checking
- Update pipelines
- Clang formatting
- Switch deps to tagged versions
- Fix new trajopt plan parameters
- clang formatting
- Make cartesian tolerance a ROS parameter
- Use tolerance override and set to zeros for cartesian cost
- Check cartesian tolerance vector size
- Add TrajOpt Cartesian coeff as a ROS param
- Contributors: Tyler Marr
4.7.0 (2024-07-25)
4.6.1 (2024-05-29)
4.6.0 (2024-05-29)
- Merge pull request #111 from DavidSpielman/feature/rerun_toolpaths Added Freespace Motion Plan
- Pass joint state as const ref
- Clang formatting
- No longer remove scan link at end of freespace plan, matches process plan
- Make adding mesh optional to motion planning
- Rename process plan callback to be more descriptive
- Ran clang formatting
- Defining manipulator info via server request parameters
- Removed commented lines from planning server
- Fixed typo in planCallback method
- Freespace plan callback in working state. Prev issue: Passing nested composite instruction to freespace task when it expect composite instruction one layer deep
- WIP: planning server fails when freespace motion plan problem is run
- WIP. Update bt node to pass in joint waypoint instead of poly waypoint
- Added freespace motion planning service
- Contributors: David Spielman, Michael Ripperger, Tyler Marr
4.5.0 (2024-05-29)
4.4.1 (2024-05-23)
- Merge pull request #105 from DavidSpielman/pr/dspielman/update/planner-org Updated Planner Organization
- Removed call to remove scan link in planCallback method
- Modified signature of plan method
- Reverted name of raster task name to task name
- Ran clang formatting
- Reorganized planner_server.cpp to simplify motion plan generations
- WIP update organization of planner code
- Contributors: David Spielman, Michael Ripperger
File truncated at 100 lines see the full file
Package Dependencies
| Deps | Name |
|---|---|
| ament_cmake | |
| ament_lint_auto | |
| rclcpp | |
| snp_msgs | |
| std_msgs | |
| tesseract_command_language | |
| tesseract_task_composer | |
| tesseract_monitoring | |
| tesseract_support | |
| tesseract_urdf | |
| tesseract_kinematics | |
| tf2_eigen |
System Dependencies
No direct system dependencies.
Dependant Packages
No known dependants.
Launch files
- launch/planning_server.launch.xml
-
- robot_description
- robot_description_semantic
- verbose [default: False]
- scan_disabled_contact_links [default: ['']]
- scan_reduced_contact_links [default: ['']]
- collision_object_type [default: convex_mesh]
- octree_resolution [default: 0.010]
- max_convex_hulls [default: 64]
- task_composer_config_file [default: $(find-pkg-share snp_motion_planning)/config/task_composer_plugins.yaml]
- raster_task_name [default: SNPPipeline]
- freespace_task_name [default: SNPFreespacePipeline]
- velocity_scaling_factor [default: 1.0]
- acceleration_scaling_factor [default: 1.0]
- max_translational_vel [default: 0.050]
- max_rotational_vel [default: 1.571]
- max_translational_acc [default: 0.100]
- max_rotational_acc [default: 3.14]
- check_joint_accelerations [default: false]
- min_contact_distance [default: 0.0]
- contact_check_lvs_distance [default: 0.05]
- ompl_max_planning_time [default: 5.0]
- tcp_max_speed [default: 0.25]
- cartesian_tolerance [default: [0.01, 0.01, 0.01, 0.05, 0.05, 6.28]]
- cartesian_coefficient [default: [2.5, 2.5, 2.5, 2.5, 2.5, 0.0]]
Messages
No message files found.
Services
No service files found
Plugins
No plugins found.
Recent questions tagged snp_motion_planning at Robotics Stack Exchange
No version for distro rolling showing github. Known supported distros are highlighted in the buttons above.
|
|
snp_motion_planning package from scan_n_plan_workshop reposnp_application snp_motion_execution snp_motion_planning snp_msgs snp_scanning snp_tpp |
ROS Distro
|
Package Summary
| Tags | No category tags. |
| Version | 6.0.1 |
| License | Apache 2.0 |
| Build type | AMENT_CMAKE |
| Use | RECOMMENDED |
Repository Summary
| Description | |
| Checkout URI | https://github.com/ros-industrial-consortium/scan_n_plan_workshop.git |
| VCS Type | git |
| VCS Version | master |
| Last Updated | 2025-07-24 |
| Dev Status | UNKNOWN |
| Released | UNRELEASED |
| Tags | No category tags. |
| Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
SNP Motion Planning
Additional Links
No additional links.
Maintainers
- Michael Ripperger
Authors
No additional authors.
README
No README found.
See repository README.
CHANGELOG
Changelog for package snp_motion_planning
6.0.1 (2025-06-17)
6.0.0 (2025-04-17)
- Revised motion planning pipelines to not overwrite keys; combined freespace and transition pipelines; updated freespace pipeline to be more robust to failure (#164)
- Add service for adding scan link to motion planning environment (#163)
- Fix go home freespace planning (#162)
- Planner Profile Update
(#161)
- Updated Trajopt profiles to remove velocity smoothing and correctly utilize safety margin and safety margin buffer
- Skip addition of empty links to reduced contact collision pairs
- Updated trajopt profile special collision costs; added collision as a constraint in trajopt profile
- Added LVS length argument to all custom profile generator functions
- Removed unnecessary default values in profile generation functions
- Added convex hull decomposition method for scan mesh (#160)
- Upgrades to Tesseract Version 0.29.X. (#158)
- Contributors: Levi Armstrong, Michael Ripperger
5.0.3 (2024-09-09)
5.0.2 (2024-08-16)
5.0.1 (2024-08-16)
5.0.0 (2024-08-15)
- Working build for latest version of tesseract
(#115)
- Working build for latest version of tesseract (fwd declaration)
- Update plugin status_message fields
- Fix vel and acc limit checking
- Update pipelines
- Clang formatting
- Switch deps to tagged versions
- Fix new trajopt plan parameters
- clang formatting
- Make cartesian tolerance a ROS parameter
- Use tolerance override and set to zeros for cartesian cost
- Check cartesian tolerance vector size
- Add TrajOpt Cartesian coeff as a ROS param
- Contributors: Tyler Marr
4.7.0 (2024-07-25)
4.6.1 (2024-05-29)
4.6.0 (2024-05-29)
- Merge pull request #111 from DavidSpielman/feature/rerun_toolpaths Added Freespace Motion Plan
- Pass joint state as const ref
- Clang formatting
- No longer remove scan link at end of freespace plan, matches process plan
- Make adding mesh optional to motion planning
- Rename process plan callback to be more descriptive
- Ran clang formatting
- Defining manipulator info via server request parameters
- Removed commented lines from planning server
- Fixed typo in planCallback method
- Freespace plan callback in working state. Prev issue: Passing nested composite instruction to freespace task when it expect composite instruction one layer deep
- WIP: planning server fails when freespace motion plan problem is run
- WIP. Update bt node to pass in joint waypoint instead of poly waypoint
- Added freespace motion planning service
- Contributors: David Spielman, Michael Ripperger, Tyler Marr
4.5.0 (2024-05-29)
4.4.1 (2024-05-23)
- Merge pull request #105 from DavidSpielman/pr/dspielman/update/planner-org Updated Planner Organization
- Removed call to remove scan link in planCallback method
- Modified signature of plan method
- Reverted name of raster task name to task name
- Ran clang formatting
- Reorganized planner_server.cpp to simplify motion plan generations
- WIP update organization of planner code
- Contributors: David Spielman, Michael Ripperger
File truncated at 100 lines see the full file
Package Dependencies
| Deps | Name |
|---|---|
| ament_cmake | |
| ament_lint_auto | |
| rclcpp | |
| snp_msgs | |
| std_msgs | |
| tesseract_command_language | |
| tesseract_task_composer | |
| tesseract_monitoring | |
| tesseract_support | |
| tesseract_urdf | |
| tesseract_kinematics | |
| tf2_eigen |
System Dependencies
No direct system dependencies.
Dependant Packages
No known dependants.
Launch files
- launch/planning_server.launch.xml
-
- robot_description
- robot_description_semantic
- verbose [default: False]
- scan_disabled_contact_links [default: ['']]
- scan_reduced_contact_links [default: ['']]
- collision_object_type [default: convex_mesh]
- octree_resolution [default: 0.010]
- max_convex_hulls [default: 64]
- task_composer_config_file [default: $(find-pkg-share snp_motion_planning)/config/task_composer_plugins.yaml]
- raster_task_name [default: SNPPipeline]
- freespace_task_name [default: SNPFreespacePipeline]
- velocity_scaling_factor [default: 1.0]
- acceleration_scaling_factor [default: 1.0]
- max_translational_vel [default: 0.050]
- max_rotational_vel [default: 1.571]
- max_translational_acc [default: 0.100]
- max_rotational_acc [default: 3.14]
- check_joint_accelerations [default: false]
- min_contact_distance [default: 0.0]
- contact_check_lvs_distance [default: 0.05]
- ompl_max_planning_time [default: 5.0]
- tcp_max_speed [default: 0.25]
- cartesian_tolerance [default: [0.01, 0.01, 0.01, 0.05, 0.05, 6.28]]
- cartesian_coefficient [default: [2.5, 2.5, 2.5, 2.5, 2.5, 0.0]]
Messages
No message files found.
Services
No service files found
Plugins
No plugins found.
Recent questions tagged snp_motion_planning at Robotics Stack Exchange
|
|
snp_motion_planning package from scan_n_plan_workshop reposnp_application snp_motion_execution snp_motion_planning snp_msgs snp_scanning snp_tpp |
ROS Distro
|
Package Summary
| Tags | No category tags. |
| Version | 6.0.1 |
| License | Apache 2.0 |
| Build type | AMENT_CMAKE |
| Use | RECOMMENDED |
Repository Summary
| Description | |
| Checkout URI | https://github.com/ros-industrial-consortium/scan_n_plan_workshop.git |
| VCS Type | git |
| VCS Version | master |
| Last Updated | 2025-07-24 |
| Dev Status | UNKNOWN |
| Released | UNRELEASED |
| Tags | No category tags. |
| Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
SNP Motion Planning
Additional Links
No additional links.
Maintainers
- Michael Ripperger
Authors
No additional authors.
README
No README found.
See repository README.
CHANGELOG
Changelog for package snp_motion_planning
6.0.1 (2025-06-17)
6.0.0 (2025-04-17)
- Revised motion planning pipelines to not overwrite keys; combined freespace and transition pipelines; updated freespace pipeline to be more robust to failure (#164)
- Add service for adding scan link to motion planning environment (#163)
- Fix go home freespace planning (#162)
- Planner Profile Update
(#161)
- Updated Trajopt profiles to remove velocity smoothing and correctly utilize safety margin and safety margin buffer
- Skip addition of empty links to reduced contact collision pairs
- Updated trajopt profile special collision costs; added collision as a constraint in trajopt profile
- Added LVS length argument to all custom profile generator functions
- Removed unnecessary default values in profile generation functions
- Added convex hull decomposition method for scan mesh (#160)
- Upgrades to Tesseract Version 0.29.X. (#158)
- Contributors: Levi Armstrong, Michael Ripperger
5.0.3 (2024-09-09)
5.0.2 (2024-08-16)
5.0.1 (2024-08-16)
5.0.0 (2024-08-15)
- Working build for latest version of tesseract
(#115)
- Working build for latest version of tesseract (fwd declaration)
- Update plugin status_message fields
- Fix vel and acc limit checking
- Update pipelines
- Clang formatting
- Switch deps to tagged versions
- Fix new trajopt plan parameters
- clang formatting
- Make cartesian tolerance a ROS parameter
- Use tolerance override and set to zeros for cartesian cost
- Check cartesian tolerance vector size
- Add TrajOpt Cartesian coeff as a ROS param
- Contributors: Tyler Marr
4.7.0 (2024-07-25)
4.6.1 (2024-05-29)
4.6.0 (2024-05-29)
- Merge pull request #111 from DavidSpielman/feature/rerun_toolpaths Added Freespace Motion Plan
- Pass joint state as const ref
- Clang formatting
- No longer remove scan link at end of freespace plan, matches process plan
- Make adding mesh optional to motion planning
- Rename process plan callback to be more descriptive
- Ran clang formatting
- Defining manipulator info via server request parameters
- Removed commented lines from planning server
- Fixed typo in planCallback method
- Freespace plan callback in working state. Prev issue: Passing nested composite instruction to freespace task when it expect composite instruction one layer deep
- WIP: planning server fails when freespace motion plan problem is run
- WIP. Update bt node to pass in joint waypoint instead of poly waypoint
- Added freespace motion planning service
- Contributors: David Spielman, Michael Ripperger, Tyler Marr
4.5.0 (2024-05-29)
4.4.1 (2024-05-23)
- Merge pull request #105 from DavidSpielman/pr/dspielman/update/planner-org Updated Planner Organization
- Removed call to remove scan link in planCallback method
- Modified signature of plan method
- Reverted name of raster task name to task name
- Ran clang formatting
- Reorganized planner_server.cpp to simplify motion plan generations
- WIP update organization of planner code
- Contributors: David Spielman, Michael Ripperger
File truncated at 100 lines see the full file
Package Dependencies
| Deps | Name |
|---|---|
| ament_cmake | |
| ament_lint_auto | |
| rclcpp | |
| snp_msgs | |
| std_msgs | |
| tesseract_command_language | |
| tesseract_task_composer | |
| tesseract_monitoring | |
| tesseract_support | |
| tesseract_urdf | |
| tesseract_kinematics | |
| tf2_eigen |
System Dependencies
No direct system dependencies.
Dependant Packages
No known dependants.
Launch files
- launch/planning_server.launch.xml
-
- robot_description
- robot_description_semantic
- verbose [default: False]
- scan_disabled_contact_links [default: ['']]
- scan_reduced_contact_links [default: ['']]
- collision_object_type [default: convex_mesh]
- octree_resolution [default: 0.010]
- max_convex_hulls [default: 64]
- task_composer_config_file [default: $(find-pkg-share snp_motion_planning)/config/task_composer_plugins.yaml]
- raster_task_name [default: SNPPipeline]
- freespace_task_name [default: SNPFreespacePipeline]
- velocity_scaling_factor [default: 1.0]
- acceleration_scaling_factor [default: 1.0]
- max_translational_vel [default: 0.050]
- max_rotational_vel [default: 1.571]
- max_translational_acc [default: 0.100]
- max_rotational_acc [default: 3.14]
- check_joint_accelerations [default: false]
- min_contact_distance [default: 0.0]
- contact_check_lvs_distance [default: 0.05]
- ompl_max_planning_time [default: 5.0]
- tcp_max_speed [default: 0.25]
- cartesian_tolerance [default: [0.01, 0.01, 0.01, 0.05, 0.05, 6.28]]
- cartesian_coefficient [default: [2.5, 2.5, 2.5, 2.5, 2.5, 0.0]]
Messages
No message files found.
Services
No service files found
Plugins
No plugins found.
Recent questions tagged snp_motion_planning at Robotics Stack Exchange
No version for distro galactic showing github. Known supported distros are highlighted in the buttons above.
|
|
snp_motion_planning package from scan_n_plan_workshop reposnp_application snp_motion_execution snp_motion_planning snp_msgs snp_scanning snp_tpp |
ROS Distro
|
Package Summary
| Tags | No category tags. |
| Version | 6.0.1 |
| License | Apache 2.0 |
| Build type | AMENT_CMAKE |
| Use | RECOMMENDED |
Repository Summary
| Description | |
| Checkout URI | https://github.com/ros-industrial-consortium/scan_n_plan_workshop.git |
| VCS Type | git |
| VCS Version | master |
| Last Updated | 2025-07-24 |
| Dev Status | UNKNOWN |
| Released | UNRELEASED |
| Tags | No category tags. |
| Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
SNP Motion Planning
Additional Links
No additional links.
Maintainers
- Michael Ripperger
Authors
No additional authors.
README
No README found.
See repository README.
CHANGELOG
Changelog for package snp_motion_planning
6.0.1 (2025-06-17)
6.0.0 (2025-04-17)
- Revised motion planning pipelines to not overwrite keys; combined freespace and transition pipelines; updated freespace pipeline to be more robust to failure (#164)
- Add service for adding scan link to motion planning environment (#163)
- Fix go home freespace planning (#162)
- Planner Profile Update
(#161)
- Updated Trajopt profiles to remove velocity smoothing and correctly utilize safety margin and safety margin buffer
- Skip addition of empty links to reduced contact collision pairs
- Updated trajopt profile special collision costs; added collision as a constraint in trajopt profile
- Added LVS length argument to all custom profile generator functions
- Removed unnecessary default values in profile generation functions
- Added convex hull decomposition method for scan mesh (#160)
- Upgrades to Tesseract Version 0.29.X. (#158)
- Contributors: Levi Armstrong, Michael Ripperger
5.0.3 (2024-09-09)
5.0.2 (2024-08-16)
5.0.1 (2024-08-16)
5.0.0 (2024-08-15)
- Working build for latest version of tesseract
(#115)
- Working build for latest version of tesseract (fwd declaration)
- Update plugin status_message fields
- Fix vel and acc limit checking
- Update pipelines
- Clang formatting
- Switch deps to tagged versions
- Fix new trajopt plan parameters
- clang formatting
- Make cartesian tolerance a ROS parameter
- Use tolerance override and set to zeros for cartesian cost
- Check cartesian tolerance vector size
- Add TrajOpt Cartesian coeff as a ROS param
- Contributors: Tyler Marr
4.7.0 (2024-07-25)
4.6.1 (2024-05-29)
4.6.0 (2024-05-29)
- Merge pull request #111 from DavidSpielman/feature/rerun_toolpaths Added Freespace Motion Plan
- Pass joint state as const ref
- Clang formatting
- No longer remove scan link at end of freespace plan, matches process plan
- Make adding mesh optional to motion planning
- Rename process plan callback to be more descriptive
- Ran clang formatting
- Defining manipulator info via server request parameters
- Removed commented lines from planning server
- Fixed typo in planCallback method
- Freespace plan callback in working state. Prev issue: Passing nested composite instruction to freespace task when it expect composite instruction one layer deep
- WIP: planning server fails when freespace motion plan problem is run
- WIP. Update bt node to pass in joint waypoint instead of poly waypoint
- Added freespace motion planning service
- Contributors: David Spielman, Michael Ripperger, Tyler Marr
4.5.0 (2024-05-29)
4.4.1 (2024-05-23)
- Merge pull request #105 from DavidSpielman/pr/dspielman/update/planner-org Updated Planner Organization
- Removed call to remove scan link in planCallback method
- Modified signature of plan method
- Reverted name of raster task name to task name
- Ran clang formatting
- Reorganized planner_server.cpp to simplify motion plan generations
- WIP update organization of planner code
- Contributors: David Spielman, Michael Ripperger
File truncated at 100 lines see the full file
Package Dependencies
| Deps | Name |
|---|---|
| ament_cmake | |
| ament_lint_auto | |
| rclcpp | |
| snp_msgs | |
| std_msgs | |
| tesseract_command_language | |
| tesseract_task_composer | |
| tesseract_monitoring | |
| tesseract_support | |
| tesseract_urdf | |
| tesseract_kinematics | |
| tf2_eigen |
System Dependencies
No direct system dependencies.
Dependant Packages
No known dependants.
Launch files
- launch/planning_server.launch.xml
-
- robot_description
- robot_description_semantic
- verbose [default: False]
- scan_disabled_contact_links [default: ['']]
- scan_reduced_contact_links [default: ['']]
- collision_object_type [default: convex_mesh]
- octree_resolution [default: 0.010]
- max_convex_hulls [default: 64]
- task_composer_config_file [default: $(find-pkg-share snp_motion_planning)/config/task_composer_plugins.yaml]
- raster_task_name [default: SNPPipeline]
- freespace_task_name [default: SNPFreespacePipeline]
- velocity_scaling_factor [default: 1.0]
- acceleration_scaling_factor [default: 1.0]
- max_translational_vel [default: 0.050]
- max_rotational_vel [default: 1.571]
- max_translational_acc [default: 0.100]
- max_rotational_acc [default: 3.14]
- check_joint_accelerations [default: false]
- min_contact_distance [default: 0.0]
- contact_check_lvs_distance [default: 0.05]
- ompl_max_planning_time [default: 5.0]
- tcp_max_speed [default: 0.25]
- cartesian_tolerance [default: [0.01, 0.01, 0.01, 0.05, 0.05, 6.28]]
- cartesian_coefficient [default: [2.5, 2.5, 2.5, 2.5, 2.5, 0.0]]
Messages
No message files found.
Services
No service files found
Plugins
No plugins found.
Recent questions tagged snp_motion_planning at Robotics Stack Exchange
No version for distro iron showing github. Known supported distros are highlighted in the buttons above.
|
|
snp_motion_planning package from scan_n_plan_workshop reposnp_application snp_motion_execution snp_motion_planning snp_msgs snp_scanning snp_tpp |
ROS Distro
|
Package Summary
| Tags | No category tags. |
| Version | 6.0.1 |
| License | Apache 2.0 |
| Build type | AMENT_CMAKE |
| Use | RECOMMENDED |
Repository Summary
| Description | |
| Checkout URI | https://github.com/ros-industrial-consortium/scan_n_plan_workshop.git |
| VCS Type | git |
| VCS Version | master |
| Last Updated | 2025-07-24 |
| Dev Status | UNKNOWN |
| Released | UNRELEASED |
| Tags | No category tags. |
| Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
SNP Motion Planning
Additional Links
No additional links.
Maintainers
- Michael Ripperger
Authors
No additional authors.
README
No README found.
See repository README.
CHANGELOG
Changelog for package snp_motion_planning
6.0.1 (2025-06-17)
6.0.0 (2025-04-17)
- Revised motion planning pipelines to not overwrite keys; combined freespace and transition pipelines; updated freespace pipeline to be more robust to failure (#164)
- Add service for adding scan link to motion planning environment (#163)
- Fix go home freespace planning (#162)
- Planner Profile Update
(#161)
- Updated Trajopt profiles to remove velocity smoothing and correctly utilize safety margin and safety margin buffer
- Skip addition of empty links to reduced contact collision pairs
- Updated trajopt profile special collision costs; added collision as a constraint in trajopt profile
- Added LVS length argument to all custom profile generator functions
- Removed unnecessary default values in profile generation functions
- Added convex hull decomposition method for scan mesh (#160)
- Upgrades to Tesseract Version 0.29.X. (#158)
- Contributors: Levi Armstrong, Michael Ripperger
5.0.3 (2024-09-09)
5.0.2 (2024-08-16)
5.0.1 (2024-08-16)
5.0.0 (2024-08-15)
- Working build for latest version of tesseract
(#115)
- Working build for latest version of tesseract (fwd declaration)
- Update plugin status_message fields
- Fix vel and acc limit checking
- Update pipelines
- Clang formatting
- Switch deps to tagged versions
- Fix new trajopt plan parameters
- clang formatting
- Make cartesian tolerance a ROS parameter
- Use tolerance override and set to zeros for cartesian cost
- Check cartesian tolerance vector size
- Add TrajOpt Cartesian coeff as a ROS param
- Contributors: Tyler Marr
4.7.0 (2024-07-25)
4.6.1 (2024-05-29)
4.6.0 (2024-05-29)
- Merge pull request #111 from DavidSpielman/feature/rerun_toolpaths Added Freespace Motion Plan
- Pass joint state as const ref
- Clang formatting
- No longer remove scan link at end of freespace plan, matches process plan
- Make adding mesh optional to motion planning
- Rename process plan callback to be more descriptive
- Ran clang formatting
- Defining manipulator info via server request parameters
- Removed commented lines from planning server
- Fixed typo in planCallback method
- Freespace plan callback in working state. Prev issue: Passing nested composite instruction to freespace task when it expect composite instruction one layer deep
- WIP: planning server fails when freespace motion plan problem is run
- WIP. Update bt node to pass in joint waypoint instead of poly waypoint
- Added freespace motion planning service
- Contributors: David Spielman, Michael Ripperger, Tyler Marr
4.5.0 (2024-05-29)
4.4.1 (2024-05-23)
- Merge pull request #105 from DavidSpielman/pr/dspielman/update/planner-org Updated Planner Organization
- Removed call to remove scan link in planCallback method
- Modified signature of plan method
- Reverted name of raster task name to task name
- Ran clang formatting
- Reorganized planner_server.cpp to simplify motion plan generations
- WIP update organization of planner code
- Contributors: David Spielman, Michael Ripperger
File truncated at 100 lines see the full file
Package Dependencies
| Deps | Name |
|---|---|
| ament_cmake | |
| ament_lint_auto | |
| rclcpp | |
| snp_msgs | |
| std_msgs | |
| tesseract_command_language | |
| tesseract_task_composer | |
| tesseract_monitoring | |
| tesseract_support | |
| tesseract_urdf | |
| tesseract_kinematics | |
| tf2_eigen |
System Dependencies
No direct system dependencies.
Dependant Packages
No known dependants.
Launch files
- launch/planning_server.launch.xml
-
- robot_description
- robot_description_semantic
- verbose [default: False]
- scan_disabled_contact_links [default: ['']]
- scan_reduced_contact_links [default: ['']]
- collision_object_type [default: convex_mesh]
- octree_resolution [default: 0.010]
- max_convex_hulls [default: 64]
- task_composer_config_file [default: $(find-pkg-share snp_motion_planning)/config/task_composer_plugins.yaml]
- raster_task_name [default: SNPPipeline]
- freespace_task_name [default: SNPFreespacePipeline]
- velocity_scaling_factor [default: 1.0]
- acceleration_scaling_factor [default: 1.0]
- max_translational_vel [default: 0.050]
- max_rotational_vel [default: 1.571]
- max_translational_acc [default: 0.100]
- max_rotational_acc [default: 3.14]
- check_joint_accelerations [default: false]
- min_contact_distance [default: 0.0]
- contact_check_lvs_distance [default: 0.05]
- ompl_max_planning_time [default: 5.0]
- tcp_max_speed [default: 0.25]
- cartesian_tolerance [default: [0.01, 0.01, 0.01, 0.05, 0.05, 6.28]]
- cartesian_coefficient [default: [2.5, 2.5, 2.5, 2.5, 2.5, 0.0]]
Messages
No message files found.
Services
No service files found
Plugins
No plugins found.
Recent questions tagged snp_motion_planning at Robotics Stack Exchange
No version for distro melodic showing github. Known supported distros are highlighted in the buttons above.
|
|
snp_motion_planning package from scan_n_plan_workshop reposnp_application snp_motion_execution snp_motion_planning snp_msgs snp_scanning snp_tpp |
ROS Distro
|
Package Summary
| Tags | No category tags. |
| Version | 6.0.1 |
| License | Apache 2.0 |
| Build type | AMENT_CMAKE |
| Use | RECOMMENDED |
Repository Summary
| Description | |
| Checkout URI | https://github.com/ros-industrial-consortium/scan_n_plan_workshop.git |
| VCS Type | git |
| VCS Version | master |
| Last Updated | 2025-07-24 |
| Dev Status | UNKNOWN |
| Released | UNRELEASED |
| Tags | No category tags. |
| Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
SNP Motion Planning
Additional Links
No additional links.
Maintainers
- Michael Ripperger
Authors
No additional authors.
README
No README found.
See repository README.
CHANGELOG
Changelog for package snp_motion_planning
6.0.1 (2025-06-17)
6.0.0 (2025-04-17)
- Revised motion planning pipelines to not overwrite keys; combined freespace and transition pipelines; updated freespace pipeline to be more robust to failure (#164)
- Add service for adding scan link to motion planning environment (#163)
- Fix go home freespace planning (#162)
- Planner Profile Update
(#161)
- Updated Trajopt profiles to remove velocity smoothing and correctly utilize safety margin and safety margin buffer
- Skip addition of empty links to reduced contact collision pairs
- Updated trajopt profile special collision costs; added collision as a constraint in trajopt profile
- Added LVS length argument to all custom profile generator functions
- Removed unnecessary default values in profile generation functions
- Added convex hull decomposition method for scan mesh (#160)
- Upgrades to Tesseract Version 0.29.X. (#158)
- Contributors: Levi Armstrong, Michael Ripperger
5.0.3 (2024-09-09)
5.0.2 (2024-08-16)
5.0.1 (2024-08-16)
5.0.0 (2024-08-15)
- Working build for latest version of tesseract
(#115)
- Working build for latest version of tesseract (fwd declaration)
- Update plugin status_message fields
- Fix vel and acc limit checking
- Update pipelines
- Clang formatting
- Switch deps to tagged versions
- Fix new trajopt plan parameters
- clang formatting
- Make cartesian tolerance a ROS parameter
- Use tolerance override and set to zeros for cartesian cost
- Check cartesian tolerance vector size
- Add TrajOpt Cartesian coeff as a ROS param
- Contributors: Tyler Marr
4.7.0 (2024-07-25)
4.6.1 (2024-05-29)
4.6.0 (2024-05-29)
- Merge pull request #111 from DavidSpielman/feature/rerun_toolpaths Added Freespace Motion Plan
- Pass joint state as const ref
- Clang formatting
- No longer remove scan link at end of freespace plan, matches process plan
- Make adding mesh optional to motion planning
- Rename process plan callback to be more descriptive
- Ran clang formatting
- Defining manipulator info via server request parameters
- Removed commented lines from planning server
- Fixed typo in planCallback method
- Freespace plan callback in working state. Prev issue: Passing nested composite instruction to freespace task when it expect composite instruction one layer deep
- WIP: planning server fails when freespace motion plan problem is run
- WIP. Update bt node to pass in joint waypoint instead of poly waypoint
- Added freespace motion planning service
- Contributors: David Spielman, Michael Ripperger, Tyler Marr
4.5.0 (2024-05-29)
4.4.1 (2024-05-23)
- Merge pull request #105 from DavidSpielman/pr/dspielman/update/planner-org Updated Planner Organization
- Removed call to remove scan link in planCallback method
- Modified signature of plan method
- Reverted name of raster task name to task name
- Ran clang formatting
- Reorganized planner_server.cpp to simplify motion plan generations
- WIP update organization of planner code
- Contributors: David Spielman, Michael Ripperger
File truncated at 100 lines see the full file
Package Dependencies
| Deps | Name |
|---|---|
| ament_cmake | |
| ament_lint_auto | |
| rclcpp | |
| snp_msgs | |
| std_msgs | |
| tesseract_command_language | |
| tesseract_task_composer | |
| tesseract_monitoring | |
| tesseract_support | |
| tesseract_urdf | |
| tesseract_kinematics | |
| tf2_eigen |
System Dependencies
No direct system dependencies.
Dependant Packages
No known dependants.
Launch files
- launch/planning_server.launch.xml
-
- robot_description
- robot_description_semantic
- verbose [default: False]
- scan_disabled_contact_links [default: ['']]
- scan_reduced_contact_links [default: ['']]
- collision_object_type [default: convex_mesh]
- octree_resolution [default: 0.010]
- max_convex_hulls [default: 64]
- task_composer_config_file [default: $(find-pkg-share snp_motion_planning)/config/task_composer_plugins.yaml]
- raster_task_name [default: SNPPipeline]
- freespace_task_name [default: SNPFreespacePipeline]
- velocity_scaling_factor [default: 1.0]
- acceleration_scaling_factor [default: 1.0]
- max_translational_vel [default: 0.050]
- max_rotational_vel [default: 1.571]
- max_translational_acc [default: 0.100]
- max_rotational_acc [default: 3.14]
- check_joint_accelerations [default: false]
- min_contact_distance [default: 0.0]
- contact_check_lvs_distance [default: 0.05]
- ompl_max_planning_time [default: 5.0]
- tcp_max_speed [default: 0.25]
- cartesian_tolerance [default: [0.01, 0.01, 0.01, 0.05, 0.05, 6.28]]
- cartesian_coefficient [default: [2.5, 2.5, 2.5, 2.5, 2.5, 0.0]]
Messages
No message files found.
Services
No service files found
Plugins
No plugins found.
Recent questions tagged snp_motion_planning at Robotics Stack Exchange
No version for distro noetic showing github. Known supported distros are highlighted in the buttons above.
|
|
snp_motion_planning package from scan_n_plan_workshop reposnp_application snp_motion_execution snp_motion_planning snp_msgs snp_scanning snp_tpp |
ROS Distro
|
Package Summary
| Tags | No category tags. |
| Version | 6.0.1 |
| License | Apache 2.0 |
| Build type | AMENT_CMAKE |
| Use | RECOMMENDED |
Repository Summary
| Description | |
| Checkout URI | https://github.com/ros-industrial-consortium/scan_n_plan_workshop.git |
| VCS Type | git |
| VCS Version | master |
| Last Updated | 2025-07-24 |
| Dev Status | UNKNOWN |
| Released | UNRELEASED |
| Tags | No category tags. |
| Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
SNP Motion Planning
Additional Links
No additional links.
Maintainers
- Michael Ripperger
Authors
No additional authors.
README
No README found.
See repository README.
CHANGELOG
Changelog for package snp_motion_planning
6.0.1 (2025-06-17)
6.0.0 (2025-04-17)
- Revised motion planning pipelines to not overwrite keys; combined freespace and transition pipelines; updated freespace pipeline to be more robust to failure (#164)
- Add service for adding scan link to motion planning environment (#163)
- Fix go home freespace planning (#162)
- Planner Profile Update
(#161)
- Updated Trajopt profiles to remove velocity smoothing and correctly utilize safety margin and safety margin buffer
- Skip addition of empty links to reduced contact collision pairs
- Updated trajopt profile special collision costs; added collision as a constraint in trajopt profile
- Added LVS length argument to all custom profile generator functions
- Removed unnecessary default values in profile generation functions
- Added convex hull decomposition method for scan mesh (#160)
- Upgrades to Tesseract Version 0.29.X. (#158)
- Contributors: Levi Armstrong, Michael Ripperger
5.0.3 (2024-09-09)
5.0.2 (2024-08-16)
5.0.1 (2024-08-16)
5.0.0 (2024-08-15)
- Working build for latest version of tesseract
(#115)
- Working build for latest version of tesseract (fwd declaration)
- Update plugin status_message fields
- Fix vel and acc limit checking
- Update pipelines
- Clang formatting
- Switch deps to tagged versions
- Fix new trajopt plan parameters
- clang formatting
- Make cartesian tolerance a ROS parameter
- Use tolerance override and set to zeros for cartesian cost
- Check cartesian tolerance vector size
- Add TrajOpt Cartesian coeff as a ROS param
- Contributors: Tyler Marr
4.7.0 (2024-07-25)
4.6.1 (2024-05-29)
4.6.0 (2024-05-29)
- Merge pull request #111 from DavidSpielman/feature/rerun_toolpaths Added Freespace Motion Plan
- Pass joint state as const ref
- Clang formatting
- No longer remove scan link at end of freespace plan, matches process plan
- Make adding mesh optional to motion planning
- Rename process plan callback to be more descriptive
- Ran clang formatting
- Defining manipulator info via server request parameters
- Removed commented lines from planning server
- Fixed typo in planCallback method
- Freespace plan callback in working state. Prev issue: Passing nested composite instruction to freespace task when it expect composite instruction one layer deep
- WIP: planning server fails when freespace motion plan problem is run
- WIP. Update bt node to pass in joint waypoint instead of poly waypoint
- Added freespace motion planning service
- Contributors: David Spielman, Michael Ripperger, Tyler Marr
4.5.0 (2024-05-29)
4.4.1 (2024-05-23)
- Merge pull request #105 from DavidSpielman/pr/dspielman/update/planner-org Updated Planner Organization
- Removed call to remove scan link in planCallback method
- Modified signature of plan method
- Reverted name of raster task name to task name
- Ran clang formatting
- Reorganized planner_server.cpp to simplify motion plan generations
- WIP update organization of planner code
- Contributors: David Spielman, Michael Ripperger
File truncated at 100 lines see the full file
Package Dependencies
| Deps | Name |
|---|---|
| ament_cmake | |
| ament_lint_auto | |
| rclcpp | |
| snp_msgs | |
| std_msgs | |
| tesseract_command_language | |
| tesseract_task_composer | |
| tesseract_monitoring | |
| tesseract_support | |
| tesseract_urdf | |
| tesseract_kinematics | |
| tf2_eigen |
System Dependencies
No direct system dependencies.
Dependant Packages
No known dependants.
Launch files
- launch/planning_server.launch.xml
-
- robot_description
- robot_description_semantic
- verbose [default: False]
- scan_disabled_contact_links [default: ['']]
- scan_reduced_contact_links [default: ['']]
- collision_object_type [default: convex_mesh]
- octree_resolution [default: 0.010]
- max_convex_hulls [default: 64]
- task_composer_config_file [default: $(find-pkg-share snp_motion_planning)/config/task_composer_plugins.yaml]
- raster_task_name [default: SNPPipeline]
- freespace_task_name [default: SNPFreespacePipeline]
- velocity_scaling_factor [default: 1.0]
- acceleration_scaling_factor [default: 1.0]
- max_translational_vel [default: 0.050]
- max_rotational_vel [default: 1.571]
- max_translational_acc [default: 0.100]
- max_rotational_acc [default: 3.14]
- check_joint_accelerations [default: false]
- min_contact_distance [default: 0.0]
- contact_check_lvs_distance [default: 0.05]
- ompl_max_planning_time [default: 5.0]
- tcp_max_speed [default: 0.25]
- cartesian_tolerance [default: [0.01, 0.01, 0.01, 0.05, 0.05, 6.28]]
- cartesian_coefficient [default: [2.5, 2.5, 2.5, 2.5, 2.5, 0.0]]
Messages
No message files found.
Services
No service files found
Plugins
No plugins found.