Add asynchronous planning and execution#40

Merged

AndrejOrsula merged 18 commits intoAndrejOrsula:develfrom

personalrobotics:egordon/async

Dec 22, 2023

Commits on Dec 21, 2023

Add joint goal example for Kinova JACO2

egordon
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[WIP] Added execution cancellation and polling

egordon
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Switch to ExecuteTrajectory action

egordon
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[WIP] Goal cancellation is broken

egordon
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Added cancellation via topic publication

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Full cancellation example

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Need option for both move action and direct planning

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Created get_trajectory, so users of plan_async can easily get the result
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Reset last error code before action execution
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Reverted to original example
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Small fixes from rebase
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Update examples
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Update docstrings
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Update docstrings
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Addressed PR comments
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Ran pre-commit hook
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Commits on Dec 22, 2023