Merge pull request #1 from Nishida-Lab/devel

Devel

CMakeLists.txt

@@ -4,10 +4,8 @@ project(moveit_mpp)
 
 add_compile_options(-std=c++11)
 
-find_package(
-  catkin
-    REQUIRED
-  COMPONENTS
+
+find_package(catkin REQUIRED COMPONENTS
     moveit_core
     moveit_ros_planning
     pluginlib
@@ -16,10 +14,8 @@ find_package(
 
 
 catkin_package(
-  INCLUDE_DIRS
-    include
-  LIBRARIES
-    ${PROJECT_NAME}
+  INCLUDE_DIRS include
+  LIBRARIES ${PROJECT_NAME}
   CATKIN_DEPENDS
     moveit_core
     moveit_ros_planning
@@ -35,3 +31,25 @@ include_directories(
 
 add_library(${PROJECT_NAME}_planner_manager src/mpp_planner_manager.cpp)
 target_link_libraries(${PROJECT_NAME}_planner_manager ${catkin_LIBRARIES})
+
+
+#############
+## Install ##
+#############
+
+install(TARGETS ${PROJECT_NAME}_planner_manager
+  ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+  LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+  RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
+)
+
+install(DIRECTORY include/
+  DESTINATION ${CATKIN_GLOBAL_INCLUDE_DESTINATION}
+  FILES_MATCHING PATTERN "*.h"
+)
+
+install(FILES mpp_plugin_description.xml
+  DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION})
+
+
+

package.xml

@@ -1,23 +1,18 @@
 <?xml version="1.0"?>
-<package>
+<package format="2">
   <name>moveit_mpp</name>
-  <version>0.1.0</version>
+  <version>0.0.0</version>
   <description>Multi-planner plugin hoster plugin for MoveIt</description>
   <author>G.A. vd. Hoorn (TU Delft Robotics Institute)</author>
   <maintainer email="[email protected]">G.A. vd. Hoorn (TU Delft Robotics Institute)</maintainer>
   <license>Apache2</license>
 
   <buildtool_depend>catkin</buildtool_depend>
 
-  <build_depend>moveit_core</build_depend>  
-  <build_depend>moveit_ros_planning</build_depend>
-  <build_depend>pluginlib</build_depend>
-  <build_depend>roscpp</build_depend>
-
-  <run_depend>moveit_core</run_depend>
-  <run_depend>moveit_ros_planning</run_depend>
-  <run_depend>pluginlib</run_depend>
-  <run_depend>roscpp</run_depend>
+  <depend>moveit_core</depend>  
+  <depend>moveit_ros_planning</depend>
+  <depend>pluginlib</depend>
+  <depend>roscpp</depend>
 
   <export>
     <moveit_core plugin="${prefix}/mpp_plugin_description.xml"/>

src/mpp_planner_manager.cpp

@@ -109,11 +109,6 @@ PlannerStruct resolve_planner(const std::string& planner_str)
 
 
 
-
-
-
-
-
 MultiPlannerPluginManager::MultiPlannerPluginManager() :
   planning_interface::PlannerManager(), pnh_(PARAMETER_NS)
 {
@@ -147,11 +142,10 @@ bool MultiPlannerPluginManager::initialize(const robot_model::RobotModelConstPtr
   std::map<std::string, std::string> planners_to_load =
   {
     {"ompl", "ompl_interface/OMPLPlanner"},
-    {"ptp" , "moveit_ptp/PtpPlannerManager"},
-    // {"clik", "constrained_ik/CLIKPlanner"}
+    {"stomp" , "stomp_moveit/StompPlannerManager"},
+    {"chomp" , "chomp_interface/CHOMPPlanner"},
   };
 
-
   for (auto const& planner_info : planners_to_load)
   {
     ROS_INFO_STREAM_NAMED("multi_planner_plugin_manager", "Attempting to load planner plugin '"
@@ -163,8 +157,9 @@ bool MultiPlannerPluginManager::initialize(const robot_model::RobotModelConstPtr
     try
     {
       auto p = planner_plugin_loader_->createInstance(planner_id);
-      p->initialize(model, ns + "/" + planner_ns);
-      planners_[planner_ns] = p;
+      p->initialize(model, ns + "/");
+      std::shared_ptr< planning_interface::PlannerManager > s = std::shared_ptr< planning_interface::PlannerManager>( p.get(), [p] ( ... ) mutable { } );
+      planners_[planner_ns] = s;
     }
     catch (pluginlib::PluginlibException& ex)
     {