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Merge controller into dev: bounded trajectories and shared seven-axis limits

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Preserve dev TCP gizmo motion-priority handling while integrating Ruckig smoothing, continuous JTC spline validation and shared robot limits. Resolve launch and dependency conflicts without removing either feature set. Verified merged build of 8 packages and tests of 4 packages.
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Даниил Грабарь
2026-09-21 05:21:28 +03:00
parent b1b8cedef1 0a091ad521
commit 30d64303fc
41 changed files with 1333 additions and 136 deletions
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src/iiwa_planning/CMakeLists.txt
+44
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@@ -28,6 +28,50 @@ target_compile_features(tcp_gizmo PUBLIC cxx_std_17)
target_include_directories(tcp_gizmo PRIVATE include)
ament_target_dependencies(tcp_gizmo rclcpp rclcpp_action control_msgs iiwa_msgs geometry_msgs trajectory_msgs
action_msgs moveit_servo moveit_ros_planning moveit_core tf2_eigen)
find_package(pluginlib REQUIRED)
find_package(sensor_msgs REQUIRED)
find_package(Python3 REQUIRED COMPONENTS Interpreter Development.Module)
find_package(pybind11 REQUIRED)
pybind11_add_module(_iiwa_spline_limits src/spline_limits_py.cpp)
target_compile_features(_iiwa_spline_limits PRIVATE cxx_std_17)
target_include_directories(_iiwa_spline_limits PRIVATE include)
ament_get_python_install_dir(PYTHON_INSTALL_DIR)
install(TARGETS _iiwa_spline_limits LIBRARY DESTINATION ${PYTHON_INSTALL_DIR})
add_library(iiwa_spline_limits SHARED src/limit_spline_dynamics.cpp)
target_compile_features(iiwa_spline_limits PUBLIC cxx_std_17)
target_include_directories(iiwa_spline_limits PRIVATE include)
ament_target_dependencies(iiwa_spline_limits rclcpp moveit_core moveit_ros_planning pluginlib sensor_msgs)
pluginlib_export_plugin_description_file(moveit_core planning_response_plugins.xml)
install(TARGETS iiwa_spline_limits LIBRARY DESTINATION lib)
if(BUILD_TESTING)
enable_testing()
add_executable(test_spline_limits test/test_spline_limits.cpp)
target_compile_features(test_spline_limits PRIVATE cxx_std_17)
target_compile_options(test_spline_limits PRIVATE -UNDEBUG)
target_include_directories(test_spline_limits PRIVATE include)
add_test(NAME spline_limits COMMAND test_spline_limits)
find_package(joint_trajectory_controller REQUIRED)
add_executable(test_jtc_interpolation test/test_jtc_interpolation.cpp)
target_compile_features(test_jtc_interpolation PRIVATE cxx_std_17)
target_compile_options(test_jtc_interpolation PRIVATE -UNDEBUG)
target_include_directories(test_jtc_interpolation PRIVATE include)
ament_target_dependencies(test_jtc_interpolation joint_trajectory_controller)
add_test(NAME jtc_interpolation COMMAND test_jtc_interpolation)
add_executable(test_response_adapter test/test_response_adapter.cpp)
target_compile_options(test_response_adapter PRIVATE -UNDEBUG)
ament_target_dependencies(test_response_adapter moveit_core moveit_ros_planning pluginlib)
add_test(NAME response_adapter COMMAND test_response_adapter)
add_executable(test_start_state_monitor test/test_start_state_monitor.cpp)
target_compile_options(test_start_state_monitor PRIVATE -UNDEBUG)
target_include_directories(test_start_state_monitor PRIVATE include)
ament_target_dependencies(test_start_state_monitor rclcpp sensor_msgs)
add_test(NAME start_state_monitor COMMAND test_start_state_monitor)
set_tests_properties(start_state_monitor PROPERTIES ENVIRONMENT "ROS_DOMAIN_ID=231;ROS_AUTOMATIC_DISCOVERY_RANGE=LOCALHOST" TIMEOUT 15)
add_test(NAME direct_trajectory COMMAND ${Python3_EXECUTABLE} -m pytest -q ${CMAKE_CURRENT_SOURCE_DIR}/test/test_prepare_trajectory.py)
set_tests_properties(direct_trajectory PROPERTIES ENVIRONMENT "PYTHONPATH=${CMAKE_CURRENT_BINARY_DIR}:${CMAKE_CURRENT_SOURCE_DIR}:$ENV{PYTHONPATH}")
endif()
add_executable(motion_planning_cpp src/motion_planning_cpp.cpp)
target_include_directories(motion_planning_cpp PUBLIC include)