um-arm-lab / comps Goto Github PK

Example commands:

rospy.loginfo("Starting planning...")
msg, traj = self.mev.cbirrt.RunCBiRRT(jointgoals=target_config, outputtrajobj=True, exportfulltraj=False)
rospy.loginfo("CBiRRT output message: " + msg)

Gets

[rosout]:Starting planning...

print "Planning whole body to target"
maniptm_list = [("right_arm", right_gripper_tm), ("left_arm", left_gripper_tm)]
config = self.mev.cbirrt.DoGeneralIK(maniptm=maniptm_list, execute=False)

Gets

Planning whole body to target

Both can hang in the comps call with no further output (but not all the time, roughly 1/3rd of the time). I don't have a minimum working example or anything at this point, but if anyone knows what could be happening, that'd be great.

As far as I can tell, there are no optimization settings passed to the compiler, so this is compiling at -O0. We may want to consider changing this depending on the use case; if it's fast enough for everyone as is, we should probably leave it alone.