Update leverage new graph taskflow

tesseract-robotics · Nov 4, 2021 · af0ec87 · af0ec87
1 parent 60b3384
commit af0ec87
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Showing 9 changed files with 6 additions and 19 deletions.
diff --git a/dependencies.rosinstall b/dependencies.rosinstall
@@ -13,7 +13,7 @@
 - git:
     local-name: tesseract_planning
     uri: https://github.com/ros-industrial-consortium/tesseract_planning.git
-    version: 0.6.2
+    version: 0.6.3
 - git:
     local-name: descartes_light
     uri: https://github.com/swri-robotics/descartes_light.git

diff --git a/dependencies_with_ext.rosinstall b/dependencies_with_ext.rosinstall
@@ -17,7 +17,7 @@
 - git:
     local-name: tesseract_planning
     uri: https://github.com/ros-industrial-consortium/tesseract_planning.git
-    version: 0.6.2
+    version: 0.6.3
 - git:
     local-name: descartes_light
     uri: https://github.com/swri-robotics/descartes_light.git

diff --git a/tesseract_ros_examples/src/basic_cartesian_example.cpp b/tesseract_ros_examples/src/basic_cartesian_example.cpp
@@ -40,7 +40,6 @@ TESSERACT_COMMON_IGNORE_WARNINGS_POP
 #include <tesseract_rosutils/utils.h>
 #include <tesseract_command_language/command_language.h>
 #include <tesseract_command_language/utils/utils.h>
-#include <tesseract_process_managers/taskflow_generators/trajopt_taskflow.h>
 #include <tesseract_process_managers/core/process_planning_server.h>
 #include <tesseract_process_managers/core/default_process_planners.h>
 #include <tesseract_planning_server/tesseract_planning_server.h>

diff --git a/tesseract_ros_examples/src/freespace_hybrid_example.cpp b/tesseract_ros_examples/src/freespace_hybrid_example.cpp
@@ -36,7 +36,6 @@ TESSERACT_COMMON_IGNORE_WARNINGS_POP
 #include <tesseract_command_language/command_language.h>
 #include <tesseract_command_language/profile_dictionary.h>
 #include <tesseract_command_language/utils/utils.h>
-#include <tesseract_process_managers/taskflow_generators/freespace_taskflow.h>
 #include <tesseract_planning_server/tesseract_planning_server.h>
 #include <tesseract_motion_planners/ompl/profile/ompl_default_plan_profile.h>
 #include <tesseract_motion_planners/core/utils.h>

diff --git a/tesseract_ros_examples/src/freespace_ompl_example.cpp b/tesseract_ros_examples/src/freespace_ompl_example.cpp
@@ -35,7 +35,6 @@ TESSERACT_COMMON_IGNORE_WARNINGS_POP
 #include <tesseract_rosutils/utils.h>
 #include <tesseract_command_language/command_language.h>
 #include <tesseract_command_language/utils/utils.h>
-#include <tesseract_process_managers/taskflow_generators/ompl_taskflow.h>
 #include <tesseract_planning_server/tesseract_planning_server.h>
 #include <tesseract_motion_planners/ompl/profile/ompl_default_plan_profile.h>
 #include <tesseract_motion_planners/core/utils.h>

diff --git a/tesseract_ros_examples/src/glass_upright_example.cpp b/tesseract_ros_examples/src/glass_upright_example.cpp
@@ -35,7 +35,6 @@ TESSERACT_COMMON_IGNORE_WARNINGS_POP
 #include <tesseract_rosutils/utils.h>
 #include <tesseract_command_language/command_language.h>
 #include <tesseract_command_language/utils/utils.h>
-#include <tesseract_process_managers/taskflow_generators/trajopt_taskflow.h>
 #include <tesseract_planning_server/tesseract_planning_server.h>
 #include <tesseract_motion_planners/core/utils.h>
 #include <tesseract_visualization/markers/toolpath_marker.h>

diff --git a/tesseract_ros_examples/src/pick_and_place_example.cpp b/tesseract_ros_examples/src/pick_and_place_example.cpp
@@ -39,7 +39,6 @@ TESSERACT_COMMON_IGNORE_WARNINGS_POP
 #include <tesseract_command_language/command_language.h>
 #include <tesseract_command_language/utils/utils.h>
 #include <tesseract_command_language/utils/get_instruction_utils.h>
-#include <tesseract_process_managers/taskflow_generators/trajopt_taskflow.h>
 #include <tesseract_planning_server/tesseract_planning_server.h>
 #include <tesseract_visualization/markers/toolpath_marker.h>
 

diff --git a/tesseract_ros_examples/src/puzzle_piece_auxillary_axes_example.cpp b/tesseract_ros_examples/src/puzzle_piece_auxillary_axes_example.cpp
@@ -36,11 +36,11 @@ TESSERACT_COMMON_IGNORE_WARNINGS_POP
 #include <tesseract_command_language/command_language.h>
 #include <tesseract_command_language/types.h>
 #include <tesseract_command_language/utils/utils.h>
-#include <tesseract_process_managers/taskflow_generators/trajopt_taskflow.h>
 #include <tesseract_motion_planners/trajopt/profile/trajopt_default_plan_profile.h>
 #include <tesseract_motion_planners/trajopt/profile/trajopt_default_composite_profile.h>
 #include <tesseract_motion_planners/trajopt/profile/trajopt_default_solver_profile.h>
 #include <tesseract_motion_planners/core/utils.h>
+#include <tesseract_process_managers/core/default_process_planners.h>
 #include <tesseract_planning_server/tesseract_planning_server.h>
 #include <tesseract_visualization/markers/toolpath_marker.h>
 
@@ -217,11 +217,7 @@ bool PuzzlePieceAuxillaryAxesExample::run()
   // Create a trajopt taskflow without post collision checking
   /** @todo This matches the original example, but should update to include post collision check */
   const std::string new_planner_name = "TRAJOPT_NO_POST_CHECK";
-  tesseract_planning::TrajOptTaskflowParams params;
-  params.enable_post_contact_discrete_check = false;
-  params.enable_post_contact_continuous_check = false;
-  planning_server.registerProcessPlanner(new_planner_name,
-                                         std::make_unique<tesseract_planning::TrajOptTaskflow>(params));
+  planning_server.registerProcessPlanner(new_planner_name, tesseract_planning::createTrajOptGenerator(true, false));
 
   // Create TrajOpt Profile
   auto trajopt_plan_profile = std::make_shared<tesseract_planning::TrajOptDefaultPlanProfile>();

diff --git a/tesseract_ros_examples/src/puzzle_piece_example.cpp b/tesseract_ros_examples/src/puzzle_piece_example.cpp
@@ -36,11 +36,11 @@ TESSERACT_COMMON_IGNORE_WARNINGS_POP
 #include <tesseract_command_language/command_language.h>
 #include <tesseract_command_language/types.h>
 #include <tesseract_command_language/utils/utils.h>
-#include <tesseract_process_managers/taskflow_generators/trajopt_taskflow.h>
 #include <tesseract_motion_planners/trajopt/profile/trajopt_default_plan_profile.h>
 #include <tesseract_motion_planners/trajopt/profile/trajopt_default_composite_profile.h>
 #include <tesseract_motion_planners/trajopt/profile/trajopt_default_solver_profile.h>
 #include <tesseract_motion_planners/core/utils.h>
+#include <tesseract_process_managers/core/default_process_planners.h>
 #include <tesseract_planning_server/tesseract_planning_server.h>
 #include <tesseract_visualization/markers/toolpath_marker.h>
 
@@ -213,11 +213,7 @@ bool PuzzlePieceExample::run()
   // Create a trajopt taskflow without post collision checking
   /** @todo This matches the original example, but should update to include post collision check */
   const std::string new_planner_name = "TRAJOPT_NO_POST_CHECK";
-  tesseract_planning::TrajOptTaskflowParams params;
-  params.enable_post_contact_discrete_check = false;
-  params.enable_post_contact_continuous_check = false;
-  planning_server.registerProcessPlanner(new_planner_name,
-                                         std::make_unique<tesseract_planning::TrajOptTaskflow>(params));
+  planning_server.registerProcessPlanner(new_planner_name, tesseract_planning::createTrajOptGenerator(true, false));
 
   // Create TrajOpt Profile
   auto trajopt_plan_profile = std::make_shared<tesseract_planning::TrajOptDefaultPlanProfile>();