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Change planner type arg #439

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Merged
yck011522 merged 3 commits into from
Jun 21, 2024
Merged

Change planner type arg #439

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59107e6
Change planner type arg
gonzalocasas Jun 20, 2024
40832df
Temporarily limit numpy to less than 2.x
gonzalocasas Jun 20, 2024
3c1933d
Rename
gonzalocasas Jun 20, 2024
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1 change: 1 addition & 0 deletions CHANGELOG.md
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Expand Up @@ -32,6 +32,7 @@ and this project adheres to [Semantic Versioning](https://semver.org/spec/v2.0.0
* Changed the behavior of Duration class when accepting both seconds (float) and nanoseconds (int) where the decimal point of seconds and the nanoseconds add up to more than 1 second.
* Changed GH Component `ConstraintsFromPlane` to `FrameTargetFromPlane`.
* Changed GH Component `ConstraintsFromTargetConfiguration` to `ConfigurationTarget`.
* Changed `RosClient` constructor to take a type for planner backend instead of a string. This also changes the name of the argument from `planner_backend` to `planner_type`.

### Removed

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1 change: 1 addition & 0 deletions requirements.txt
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@@ -1,3 +1,4 @@
numpy >= 1.15.4, < 2
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@gonzalocasas gonzalocasas Jun 20, 2024 •
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This fix is temporary until this compas-dev/compas#1372 is merged and released

compas >= 2.0.4, < 3
compas_robots >= 0.3, < 1
roslibpy >= 1.1.0
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16 changes: 6 additions & 10 deletions src/compas_fab/backends/ros/client.py
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Expand Up @@ -33,8 +33,6 @@
"RosClient",
]

PLANNER_BACKENDS = {"moveit": MoveItPlanner}


class CancellableRosActionResult(CancellableFutureResult):
def __init__(self, goal):
Expand Down Expand Up @@ -116,10 +114,10 @@ class RosClient(Ros, ClientInterface):
Port of the ROS Bridge. Defaults to ``9090``.
is_secure : :obj:`bool`
``True`` to indicate it should use a secure web socket, otherwise ``False``.
planner_backend: str
Name of the planner backend plugin to use. The plugin must be a sub-class of
:class:`compas_fab.backends.PlannerInterface`. Defaults to ``"moveit"``,
making use of :class:`compas_fab.backends.MoveItPlanner`.
planner_type: type
Type the planner backend to use. The backend must be a sub-class of
:class:`compas_fab.backends.PlannerInterface`.
Defaults to :class:`~compas_fab.backends.MoveItPlanner`.

Examples
--------
Expand All @@ -132,11 +130,9 @@ class RosClient(Ros, ClientInterface):
For more examples, check out the :ref:`ROS examples page <ros_examples>`.
"""

def __init__(self, host="localhost", port=9090, is_secure=False, planner_backend="moveit"):
def __init__(self, host="localhost", port=9090, is_secure=False, planner_type=MoveItPlanner):
super(RosClient, self).__init__(host, port, is_secure)

planner_backend_type = PLANNER_BACKENDS[planner_backend]
self.planner = planner_backend_type(self)
self.planner = planner_type(self)
self._ros_distro = None

def __enter__(self):
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