Changelog for package snp_application

6.0.0 (2025-04-17)

• Add service for adding scan link to motion planning environment (#163)
• Fix go home freespace planning (#162)
• Updated BT to prevent rescan after tpp failure (#155)
• Added check in BT for empty tool paths (#144)
• Contributors: David Spielman, 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)

• Behavior tree plugins (#131)
  • Updated to SyncActionNode
  • Updated BT nodes to be plugins; updated SNP widget to load BT plugins from list of specified libraries
  • Move the declaration of parameters needed by the BT into the plugin declaration
  • Increase clang format penalty for breaking raw strings
  • Updated broken raw string
  • Check if parameter has already been declared before declaring
  • Added parameter for freespace motion group
• Contributors: Michael Ripperger

4.7.0 (2024-07-25)

4.6.1 (2024-05-29)

• Merge pull request #121 from marip8/fix/bt-node-types Changed custom nodes from control to action nodes
• Changed custom nodes from control to action nodes
• Contributors: Michael Ripperger

4.6.0 (2024-05-29)

• Merge pull request #111 from DavidSpielman/feature/rerun_toolpaths Added Freespace Motion Plan
• Catch exceptions in connect functions
• Rework updateStartState to use passed in joint state
• Change parameter name for consistency
• Give Qwarning instead of throwing error to prevent crashing
• set joint state output in 1 line
• Remove extra semicolons
• pass trajectory points by const ref
• Clang formatting
• Add Go Home button
• Add freespace go home capability to BT
• Switch BT generate freespace to use joint state inputs
• Remove FreespaceMotionPlanPub
• Ran clang formatting
• Removed outdated BT node to publish freespace motion trajectory
• Defining manipulator info via server request parameters
• Freespace plan callback in working state. Prev issue: Passing nested composite instruction to freespace task when it expect composite instruction one layer deep
• WIP. Update bt node to pass in joint waypoint instead of poly waypoint
• Contributors: David Spielman, Michael Ripperger, Tyler Marr

4.5.0 (2024-05-29)

• Merge pull request #119 from marip8/update/tpp-bt-behavior
• Updated behavior tree to revert to TPP node when TPP config button is pushed
• Contributors: Michael Ripperger

4.4.1 (2024-05-23)

4.4.0 (2024-05-21)

• Merge pull request #107 from marip8/update/rolling-ci Update [tf2_eigen]{.title-ref} includes
• Added control_msgs dependency to snp_application
• Contributors: Michael Ripperger

4.3.0 (2024-05-03)

• Merge pull request #109 from DavidSpielman/pr/feature/reformat_motion_plan_pub_bt Reformatted motion plan pub BT node to receive one input trajectory
• Ran clang formatting
• Updated BT to incorporate combine trajectories node and reformatted motion pub BT node
• Reformatted motion plan pub node to publish one input trajectory
• Merge pull request #108 from DavidSpielman/feature/combine_traj_bt Added BT node that combines two trajectories
• Updated how overlapping trajectories are processed
• Removed first point of second trajectory from being combined to trajectories
• Renamed class name and members for clarity
• Added bt node that combines two input trajectories and outputs one trajectory
• Merge pull request #106 from DavidSpielman/feature/reverse_trajectory_bt Added BT node to reverse a given input trajectory
• Ran clang formatting
• Added BT node to reverse a given input trajectory
• Contributors: David Spielman, Michael Ripperger

4.2.0 (2024-04-15)

• Formatting updates
• Ran clang formatting
• Exposing stacked widget object instead of widget
• Created methods that expose textedit and stacked widget objects
• Contributors: David Spielman

4.1.1 (2024-03-14)

4.1.0 (2024-03-13 18:12)

4.0.0 (2024-03-13 16:00)

• add fjt action param to snp_application (#99)
  • add fjt action param to snp_application
  • update snp_widget for clang formatting
• Added parameters for StopReconstruction service arguments (#92)
  • Added parameters for StopReconstruction service arguments
  • Addressed review comments
  • Handle exception as error
• Allow customization in BT factory (#86)
  • Created virtual function in SNP widget for configuring BT factory such that inherited classes can add additional custom BT nodes
  • Changed section from private to protected
  • Export dependencies of snp_application
  • Nest headers in snp_application subdirectory
  • Remove unnecessary directory include
  • Removed unnecessary Q_OBJECT macros
  • Updated BT configuration method to include ROS timeouts
  • Moved template functions to header for use by other packages
• Add rel and tracking frame and live to recon request plus and declare them (#84)
• Fixed error that was always setting start state to zeros (#81)
• Minor updates (#80)
  • Make TPP widget non-modal so the load and save dialogs work correctly
  • Convert angles from degrees to radians for SNP raster planner
• Check for required params in snp_widget that default to empty (#79)
• Behavior tree application with reactive GUI (#77)
  • Added dependency on BehaviorTree.CPP
  • Added BT utilities
  • Added BT thread class
  • Added initial GUI related BT nodes
  • Copied SequenceWithMemoryNode
  • Renamed SequenceWithMemoryNode class and file; changed namespace
  • Modifications to operation of custom sequence with memory node
  • Added SNP BT service nodes
  • Refactored SNP widget
  • Let behavior tree framework spin node
  • Put SNP panel in namespace
  • Removed robot enable from execution server
  • Added publisher BT nodes
  • Updated UI to have halt button
  • Updated widget to register publisher nodes and add halt button
  • Changed planning service name
  • Added FJT node
  • Updated timeouts
  • Added replace joint start state node
  • Updated names of stacked widget pages
  • Added TPP node widget to GUI
  • Added trajectory preview widget
  • Do not disable stacked widget on task failure
  • Added BT files
  • Create new node for BT operations; pass in Rviz node for other operations
  • Updated SNP widget layout
  • Changed motion planning services to return approach, process, and departure trajectories separately. Updated BT nodes to correspond
  • Use position only joint trajectory controller for simulation
  • Minor updates to widget
  • Removed dependency on YAML
  • Updated application launch files
  • Renamed file to snp_bt_ros_nodes
  • Updated dependencies to include BT ROS2
  • Remove deletion of thread
  • Ran clang format
  • Updated documentation for custom BT nodes
  • Added text editor BT logger
  • Incorporated text edit logger
  • Updated node names and descriptions
  • Added start button and updated behavior of reset button
  • Updated version of BT ROS2
  • Added start state replacement tolerance
  • Updated text edit logger to show same failure message for condition nodes as action nodes
  • Use blackboard entry to transmit error messages from ROS behavior nodes to the logger
  • Updated colcon-action to v6
  • Create node for TPP widget separate from BT node and Rviz node
  • Added condition node for spinning the BT ROS node to keep it alive for parameter updates
  • Removed motion execution server
  • Moved creation of BT factory into start method to allow dynamic changes of ROS params used to register nodes
• Contributors: Michael Ripperger, Tyler Marr, Yolnan

3.19.0 (2024-01-26)

3.18.0 (2024-01-04 17:42)

• Noether Update (#70)
  • Updated dependencies for new noether version
  • Changed dependency on noether_filtering to noether_tpp
  • Updated docker files
  • Updated CI
  • Remove ToolPaths message
  • Updated error statements
  • Updated TPP service name
  • Updated TPP widget to use new configurable TPP pipeline widget
• Contributors: Michael Ripperger

3.17.0 (2024-01-04 09:30)

3.16.0 (2024-01-04 09:21)

• Created service for generating a motion plan for scan trajectories (#66)
  • Created a service for generating a motion plan for scan trajectories. Modified the snp_widget to utilize this service to read values from a YAML file and return a joint trajectory message as a response.
  • Minor formatting changes
  • Moved scan_trajectory_motion_plan_server_node to snp_scanning package
  • Renamed service
  • Added boolean success flag and string message to service definition

  * Revised applcation to provide and check success of scan motion planning service ---------Co-authored-by: Michael Ripperger <<michael.ripperger@swri.org>>

• Contributors: David Spielman

3.15.0 (2024-01-02)

3.14.0 (2023-12-08)

• add default rosparam vals for snp_widget (#65)
• Contributors: Yolnan

3.13.0 (2023-10-24)

3.12.0 (2023-10-23)

• Various Updates (#55)
  • Updated OMPL profile
  • Increased TF timeout for ROI selection mesh modifier
  • Make trajopt costs a single value to support motion groups with more than 6 DoF
  • Make motion group, tcp frame, and camera frame dynamic parameters in application
  • Leverage YAML anchors in task composer config
  • Update OMPL tasks
  • Added parameter for OMPL max planning time
• Contributors: Michael Ripperger

3.11.0 (2023-09-28)

• Humble build (#52)
  • Fix templates on declaring parameters
  • Fix runtime errors
  • Update noether for humble build
  • add vtk to rosdep skip
  • Updated dependencies to be by ROS version
  • Change skip key to just 'libvtk'
  • Check ROS version for how params are declared
  • Added ROS version check for tf2_eigen include
  • Added tf2_eigen depends to various packages
  • Added tf2_eigen to planning package CMakeLists
  • Fixed a templated declare param previously missed
  • Clang formatting
  • Clang formatting (pt 2)
  • Cleaner ROS version checking
  • Set C++ version to 17 for [__has_include]{.title-ref} macro
  • Removed #if's from different ROS versions
  • Fix where things built, but didn't work in humble
  • Fix load_yaml difference between foxy and humble+
  • Clang formatting
  • Update snp_blending support to work with humble
• Contributors: Tyler Marr

3.10.0 (2023-09-20)

3.9.0 (2023-09-11 10:42)

3.8.0 (2023-09-11 10:16)

3.7.0 (2023-09-11 10:05)

3.6.0 (2023-07-14)

3.5.0 (2023-06-05 17:23)

3.4.0 (2023-06-05 13:16)

3.3.0 (2023-05-18)

• Integration - 5/17 (#25)
  • Separated simulated robot enable from simulated motion execution
  • Moved open3d mesh publisher to simulation node
  • Make motion execution node listen to full joint states topic
  • Updated Rviz config
  • Use Trajopt for raster process planner
• Integration Changes - 5.10.2023 (#24)
  • Added updated scan trajectory around the work table
  • Added TPP yaml file
  • Parameterized TSDF values
  • Updated TSDF parameters in launch files for blending and automate demo
  • Added calibration files
  • Fixed table calibration
  • Updated camera calibration
  • Updated pointcloud parameter names to the latest realsense nomenclature
  • Updated scan trajectory
  • Updated tpp configuration
  • Updated Pushcorp URDF and TCP location

  * Show output from motion planner node on screen ---------Co-authored-by: Chris Lewis <<drchrislewis@gmail.com>>

• Contributors: Michael Ripperger

3.2.0 (2023-05-10)

3.1.0 (2023-05-09)

3.0.0 (2022-09-01)

2.0.0 (2022-08-10 09:16:43 -0500)

• Automate 2022 Integration (#5)
  • Remove temporary erase of first and last raster
  • Converted application window to widget
  • Update planning functions to not be blocking
  • Add Rviz panel for SNP application
  • Renamed rosconwindow to snp_widget
  • Changed launch files to use rviz panel version of application
  • Added ROI selection mesh modifier and widget
  • Added noether plugin for ROI mesh modifier
  • Add TPP widget
  • Added TPP app
  • Updated launch file to start TPP app instead of node
  • Updated Rviz config
  • Remove TPP parameter from service definition; added string for mesh frame to TPP service defintion; updated existing TPP nodes
  • Transform selection into mesh frame
  • Changed namespace from snp to snp_tpp
  • Created unique names for transition commands
  • Async callback for motion execution
  • fixup tpp widget header
  • Faster scan traj
  • Automate setup camera calibration
  • Updated LVS to ensure at least 5 wps
  • Updated the rviz config file
  • Added collision geometry for TCP
  • Updated dependencies and README
  • Updated TPP to use latest version of noether_gui
  • Ran CMake format
  • Ran clang format
  • Replaced references to open3d_interface
  • Updated .repos files
  • Added xmlrpcpp dependency for CI
• Merge branch 'feature/gui-update' into 'master' GUI Flow Update See merge request swri/ros-i/rosworld2021/roscon2021!63
• Updated checks on data; re-routed logging to text edit instead of ROS log
• enable all process buttons and check existence of data
• remove commented code, change onUpdateStatus signature
• update flow of buttons
• Merge branch 'integration_devel_5-19' into 'master' Integration 5/20 See merge request swri/ros-i/rosworld2021/roscon2021!61
• Updated open3d to do filtering
• Updated open3d params
• Merge branch 'feature/collision-check-against-scan' into 'master' Add scan to motion planning environment See merge request swri/ros-i/rosworld2021/roscon2021!56
• Revised addition of scan to environment
• Add Mesh to Motion Planning Service
• Merge branch 'integration_devel_5-19' into 'master' Integration devel 5 19 See merge request swri/ros-i/rosworld2021/roscon2021!59
• Clang formatting
• Updated method for handling fixed trajectory, updated some open3d params
• Merge branch 'feature/robot-motion' into 'master' Motion execution update See merge request swri/ros-i/rosworld2021/roscon2021!54
• Updates to application
• Removed checks on number of parameters
• run clang formatting
• load scan traj from yaml
• merge changes from working branch
• Remove joint state sub from main application
• remove unused code
• motion works!
• fix joint_state callback
• almost able to move robot, wrong start state
• Merge branch 'update/motion-planning' into 'master' Planning Server See merge request swri/ros-i/rosworld2021/roscon2021!40
• Renamed declare and get function
• Move reset of motion plan
• Remove motion plan future typedef
• Fix placement of override cursor
• Add try-catch to application main function
• Minor CMake changes
• Added signal handler to quit Qt application
• Check motion planning server existence; override cursor to indicate planning
• Add base frame to tool path
• Update application to call motion planning service; purged tesseract dependencies; parameterized frame names
• Merge branch 'add/motion_ex_node' into 'master' Motion Execution Node See merge request swri/ros-i/rosworld2021/roscon2021!41
• Added error messages from motion execution server
• Minor updates to application
• removed comments, fixed motion exec callback, addressed merge request threads
• ran clang & cmake
• exec node integrated
• added motion execution handler, required edits to launch & application files precursor work for exec node dev, unbuilt, no clang/cmake
• Merge branch 'fix/app-service-calls' into 'master' Fix service calls in application See merge request swri/ros-i/rosworld2021/roscon2021!42
• Ran clang format
• Updated error messaging from services
• Updated calibration service callbacks
• Fix calls to services in application
• Updated motion planning service name
• Merge branch 'update/gui' into 'master' GUI update See merge request swri/ros-i/rosworld2021/roscon2021!37
• Update GUI state tracking to work with action/service callbacks
• Merge branch 'edit/application' into 'master' Added placeholder for automated scan execution See merge request swri/ros-i/rosworld2021/roscon2021!35
• Merge branch 'edit/application' into 'edit/application' Scan Motion Execution Updates See merge request lbayewallace/roscon2021!2
• Added asynchronous spinner to main application
• Added method to get node from widget
• Remove unneeded destructor
• Use modern signal/slot connection; code clean-up
• Fixed callback chain to include reconstruction triggers; minor clean up
• added motion execution for scanning process, ran clang & cmake
• Merge branch 'update-open3d-stop-reconstruction' into 'master' Updated open3d to specify mesh file name rather than predefined name in a specified directory See merge request swri/ros-i/rosworld2021/roscon2021!34
• Updated open3d to specify mesh file name rather than predefined name in a specified directory
• Merge branch 'refactor/change-execution-service-call' into 'master' Changing to new Motion Execution Call See merge request swri/ros-i/rosworld2021/roscon2021!32
• Apply 2 suggestion(s) to 1 file(s)
• Changing to new Motion Execution Call
• Merge branch 'design/define-message-types' into 'master' Define Service Types & Add Block Diagram See merge request swri/ros-i/rosworld2021/roscon2021!29
• PR Comments
• Merge branch 'update/move-planning-code' into 'master' Move planning function out of GUI See merge request swri/ros-i/rosworld2021/roscon2021!27
• Moved planning code from GUI to planning server
• Merge branch 'fix/package-name' into 'master' Fixed name of snp_application directory See merge request swri/ros-i/rosworld2021/roscon2021!28
• Fixed name of snp_application directory
• Contributors: David Merz, Jr, LCBW, Michael Ripperger, Tyler Marr, ben, dmerz, lbayewallace, mripperger, tmarr

1.0.0 (2021-10-19 16:56:56 +0000)