Update due to changes in tesseract and tesseract_planning repos

tesseract-robotics · Jan 7, 2025 · 88f1b41 · 88f1b41
1 parent 6c71489
commit 88f1b41
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Showing 4 changed files with 15 additions and 12 deletions.
diff --git a/tesseract_monitoring/src/contact_monitor.cpp b/tesseract_monitoring/src/contact_monitor.cpp
@@ -33,6 +33,7 @@ TESSERACT_COMMON_IGNORE_WARNINGS_PUSH
 #include <tesseract_msgs/msg/contact_result_vector.hpp>
 TESSERACT_COMMON_IGNORE_WARNINGS_POP
 
+#include <tesseract_common/contact_allowed_validator.h>
 #include <tesseract_rosutils/utils.h>
 #include <tesseract_rosutils/plotting.h>
 #include <tesseract_monitoring/constants.h>
@@ -136,21 +137,21 @@ void ContactMonitor::computeCollisionReportThread()
         // Create a new manager
         std::vector<std::string> active;
         tesseract_collision::CollisionMarginData contact_margin_data;
-        tesseract_collision::IsContactAllowedFn fn;
+        tesseract_common::ContactAllowedValidator::ConstPtr fn;
 
         {
           auto lock_read = monitor_->environment().lockRead();
 
           env_revision_ = monitor_->environment().getRevision();
           active = manager_->getActiveCollisionObjects();
           contact_margin_data = manager_->getCollisionMarginData();
-          fn = manager_->getIsContactAllowedFn();
+          fn = manager_->getContactAllowedValidator();
           manager_ = monitor_->environment().getDiscreteContactManager();
         }
 
         manager_->setActiveCollisionObjects(active);
         manager_->setCollisionMarginData(contact_margin_data);
-        manager_->setIsContactAllowedFn(fn);
+        manager_->setContactAllowedValidator(fn);
         for (const auto& disabled_link_name : disabled_link_names_)
           manager_->disableCollisionObject(disabled_link_name);
       }
@@ -239,19 +240,19 @@ void ContactMonitor::callbackModifyTesseractEnv(
   // Create a new manager
   std::vector<std::string> active;
   tesseract_collision::CollisionMarginData contact_margin_data;
-  tesseract_collision::IsContactAllowedFn fn;
+  tesseract_common::ContactAllowedValidator::ConstPtr fn;
 
   {
     auto lock_read = monitor_->environment().lockRead();
     active = manager_->getActiveCollisionObjects();
     contact_margin_data = manager_->getCollisionMarginData();
-    fn = manager_->getIsContactAllowedFn();
+    fn = manager_->getContactAllowedValidator();
     manager_ = monitor_->environment().getDiscreteContactManager();
   }
 
   manager_->setActiveCollisionObjects(active);
   manager_->setCollisionMarginData(contact_margin_data);
-  manager_->setIsContactAllowedFn(fn);
+  manager_->setContactAllowedValidator(fn);
   for (const auto& disabled_link_name : disabled_link_names_)
     manager_->disableCollisionObject(disabled_link_name);
 }

diff --git a/tesseract_monitoring/src/current_state_monitor.cpp b/tesseract_monitoring/src/current_state_monitor.cpp
@@ -310,7 +310,7 @@ bool CurrentStateMonitor::waitForCompleteState(const std::string& manip, double
   std::vector<std::string> missing_joints;
   if (!haveCompleteState(missing_joints))
   {
-    tesseract_kinematics::JointGroup::UPtr jmg = env_->getJointGroup(manip);
+    tesseract_kinematics::JointGroup::ConstPtr jmg = env_->getJointGroup(manip);
     if (jmg)
     {
       std::set<std::string> mj;

diff --git a/tesseract_planning_server/src/tesseract_planning_server.cpp b/tesseract_planning_server/src/tesseract_planning_server.cpp
@@ -43,11 +43,11 @@ TESSERACT_COMMON_IGNORE_WARNINGS_POP
 #include <tesseract_motion_planners/simple/profile/simple_planner_profile.h>
 
 #include <tesseract_motion_planners/simple/profile/simple_planner_lvs_no_ik_plan_profile.h>
-#include <tesseract_motion_planners/ompl/profile/ompl_default_plan_profile.h>
+#include <tesseract_motion_planners/ompl/profile/ompl_real_vector_plan_profile.h>
 #include <tesseract_motion_planners/descartes/profile/descartes_default_plan_profile.h>
 #include <tesseract_motion_planners/trajopt/profile/trajopt_default_composite_profile.h>
 #include <tesseract_motion_planners/trajopt/profile/trajopt_default_plan_profile.h>
-#include <tesseract_motion_planners/trajopt/profile/trajopt_default_solver_profile.h>
+#include <tesseract_motion_planners/trajopt/profile/trajopt_osqp_solver_profile.h>
 #include <tesseract_task_composer/planning/profiles/contact_check_profile.h>
 #include <tesseract_task_composer/planning/profiles/iterative_spline_parameterization_profile.h>
 #include <tesseract_task_composer/planning/profiles/min_length_profile.h>
@@ -302,7 +302,7 @@ void TesseractPlanningServer::loadDefaultPlannerProfiles()
                         std::make_shared<tesseract_planning::TrajOptDefaultCompositeProfile>());
   profiles_->addProfile(TRAJOPT_DEFAULT_NAMESPACE,
                         tesseract_planning::DEFAULT_PROFILE_KEY,
-                        std::make_shared<tesseract_planning::TrajOptDefaultSolverProfile>());
+                        std::make_shared<tesseract_planning::TrajOptOSQPSolverProfile>());
 
   // Add TrajOpt IFOPT Default Profiles
 #ifdef TESSERACT_TASK_COMPOSER_HAS_TRAJOPT_IFOPT
@@ -325,7 +325,7 @@ void TesseractPlanningServer::loadDefaultPlannerProfiles()
   // Add OMPL Default Profiles
   profiles_->addProfile(OMPL_DEFAULT_NAMESPACE,
                         tesseract_planning::DEFAULT_PROFILE_KEY,
-                        std::make_shared<tesseract_planning::OMPLDefaultPlanProfile>());
+                        std::make_shared<tesseract_planning::OMPLRealVectorPlanProfile>());
 
   // Add Simple Default Profiles
   profiles_->addProfile(SIMPLE_DEFAULT_NAMESPACE,

diff --git a/tesseract_planning_server/src/tesseract_planning_server_node.cpp b/tesseract_planning_server/src/tesseract_planning_server_node.cpp
@@ -29,6 +29,7 @@ TESSERACT_COMMON_IGNORE_WARNINGS_PUSH
 #include <memory>
 TESSERACT_COMMON_IGNORE_WARNINGS_POP
 
+#include <tesseract_common/resource_locator.h>
 #include <tesseract_environment/environment.h>
 #include <tesseract_environment/environment_cache.h>
 #include <tesseract_environment/environment_monitor.h>
@@ -94,8 +95,9 @@ int main(int argc, char** argv)
 
   if (!task_composer_config.empty())
   {
+    tesseract_common::GeneralResourceLocator locator;
     tesseract_common::fs::path config(task_composer_config);
-    planning_server->getTaskComposerServer().loadConfig(config);
+    planning_server->getTaskComposerServer().loadConfig(config, locator);
   }
 
   // TODO: Rate seems in seconds, whereas this should be in Hz (otherwise it should be called interval)