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Update to leverage Stopwatch and CompoundMesh #248

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Sep 20, 2024
Merged

Update to leverage Stopwatch and CompoundMesh #248

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488a528
Update to use Stopwatch instead of Timer
Levi-Armstrong Sep 19, 2024
65325b0
Update to support Geometry Type CompoundMesh
Levi-Armstrong Sep 19, 2024
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5 changes: 5 additions & 0 deletions tesseract_msgs/msg/Geometry.msg
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Original file line number Diff line number Diff line change
Expand Up @@ -10,6 +10,7 @@ uint8 MESH=6
uint8 CONVEX_MESH=7
uint8 SDF_MESH=8
uint8 OCTREE=9
uint8 COMPOUND_MESH=11

# The type of the geometry
uint8 type
Expand Down Expand Up @@ -38,3 +39,7 @@ tesseract_msgs/Mesh mesh
# OCTREE
octomap_msgs/Octomap octomap
tesseract_msgs/OctreeSubType octomap_sub_type

# COMPOUND_MESH (MESH, CONVEX_MESH, SDF_MESH)
tesseract_msgs/Mesh[] compound_mesh
uint8 compound_mesh_type #(MESH, CONVEX_MESH, SDF_MESH)
10 changes: 5 additions & 5 deletions tesseract_planning_server/src/tesseract_planning_server.cpp
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Expand Up @@ -72,7 +72,7 @@ TESSERACT_COMMON_IGNORE_WARNINGS_POP

#include <tesseract_common/serialization.h>
#include <tesseract_common/any_poly.h>
#include <tesseract_common/timer.h>
#include <tesseract_common/stopwatch.h>
#include <tesseract_environment/environment.h>
#include <tesseract_environment/environment_cache.h>
#include <tesseract_environment/environment_monitor.h>
Expand Down Expand Up @@ -308,12 +308,12 @@ struct TesseractPlanningServer::Implementation
data->setData("composite_profile_remapping", composite_profile_remapping);

// Solve
tesseract_common::Timer timer;
timer.start();
tesseract_common::Stopwatch stopwatch;
stopwatch.start();
tesseract_planning::TaskComposerFuture::UPtr plan_future =
planning_server->run(goal->request.name, std::move(data), goal->request.dotgraph, executor_name);
plan_future->wait(); // Wait for results
timer.stop();
stopwatch.stop();

// Generate DOT Graph if requested
if (goal->request.dotgraph)
Expand Down Expand Up @@ -355,7 +355,7 @@ struct TesseractPlanningServer::Implementation
result.response.successful = plan_future->context->isSuccessful();
plan_future->clear();

ROS_INFO("Tesseract Planning Server Finished Request in %f seconds!", timer.elapsedSeconds());
ROS_INFO("Tesseract Planning Server Finished Request in %f seconds!", stopwatch.elapsedSeconds());
motion_plan_server.setSucceeded(result);
}
};
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