Temporarily fix issues with execution of pick+place demo #542
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Looks like ROS2 uses a more relaxed goal constraint threshold than ROS1. For this reason, all end states reached by Connect solutions of pick+place demo are rejected. This commit relaxes the max_distance threshold of Connect as well.
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I've opened a PR to port the necessary change to moveit2. Once that is in, you don't need to revert that commit anymore I think |
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Connect stage: Relax validity check of reached end state
Looks like ROS2 uses a more relaxed goal constraint threshold than ROS1.
For this reason, all end states reached by Connect solutions of pick+place demo
are rejected. This commit relaxes the max_distance threshold of Connect as well.
MoveIt2 maintainers should check MoveIt2's goal constraint threshold and use a similar value in Connect stage.
Fixes ros2 branch was cleaned up and force-pushed #540 (comment)
Revert "Fix generation of Solution msg: consider backward operation"
This reverts commit 4aac679, because MoveIt2 is missing a port of PSM: keep references to scene_ valid upon receiving full scenes moveit#3538.
Fixes MTC Task Execution Failure - Moveit2 Pick n Place MTC demo moveit2_tutorials#881