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Move plan_request_adapters into planning interface package Add callRequestAdapterChain function Differentiate between request and response adapters Restore planning_pipeline.cpp Add response_adapters parameter and cleanup adapter chain calls Add response adapter loading chain Address compiler errors Fix parameter type Fix compilation errors Rename planning_request_adapters to *_adapter Cleanup + fix errors Fix plugins and print description Remove unused adapters Planners plan, Adapters adapt ... Format + fix compilation error Simplify by removing callRequest/ResponseAdapterChain Remove unneeded PlannerFn Make clang tidy happy Add loadPluginVector template and make callAdapterChain private Add documentation Remove TODOs Cleanups and move templates into annonymous namespace Add more debug information and fix bugs in adapters Fix bugs Remove commented out CMake lines Update parameter description Apply suggestions from code review Co-authored-by: Abishalini Sivaraman <[email protected]> Address review Remove instrospection dir Make parameters read only Make sure that pipeline does not abort if no request adapter is configured Remove anonymous namespace in header Move adapter params into separate namespace Delete outdated unittest
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -1,12 +1,13 @@ | ||
| planning_plugin: chomp_interface/CHOMPPlanner | ||
| enable_failure_recovery: true | ||
| jiggle_fraction: 0.05 | ||
| request_adapters: >- | ||
| default_planner_request_adapters/AddTimeOptimalParameterization | ||
| default_planner_request_adapters/ResolveConstraintFrames | ||
| default_planner_request_adapters/FixWorkspaceBounds | ||
| default_planner_request_adapters/FixStartStateBounds | ||
| default_planner_request_adapters/FixStartStateCollision | ||
| default_planner_request_adapters/FixStartStatePathConstraints | ||
| # The order of the elements in the adapter corresponds to the order they are processed by the motion planning pipeline. | ||
| request_adapters: | ||
| - default_planner_request_adapters/ResolveConstraintFrames | ||
| - default_planner_request_adapters/FixWorkspaceBounds | ||
| - default_planner_request_adapters/FixStartStateBounds | ||
| - default_planner_request_adapters/FixStartStateCollision | ||
| response_adapters: | ||
| - default_planner_response_adapters/AddTimeOptimalParameterization | ||
| ridge_factor: 0.01 | ||
| start_state_max_bounds_error: 0.1 |
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -1,10 +1,11 @@ | ||
| planning_plugin: ompl_interface/OMPLPlanner | ||
| start_state_max_bounds_error: 0.1 | ||
| jiggle_fraction: 0.05 | ||
| request_adapters: >- | ||
| default_planner_request_adapters/AddTimeOptimalParameterization | ||
| default_planner_request_adapters/ResolveConstraintFrames | ||
| default_planner_request_adapters/FixWorkspaceBounds | ||
| default_planner_request_adapters/FixStartStateBounds | ||
| default_planner_request_adapters/FixStartStateCollision | ||
| default_planner_request_adapters/FixStartStatePathConstraints | ||
| # The order of the elements in the adapter corresponds to the order they are processed by the motion planning pipeline. | ||
| request_adapters: | ||
| - default_planner_request_adapters/ResolveConstraintFrames | ||
| - default_planner_request_adapters/FixWorkspaceBounds | ||
| - default_planner_request_adapters/FixStartStateBounds | ||
| - default_planner_request_adapters/FixStartStateCollision | ||
| response_adapters: | ||
| - default_planner_response_adapters/AddTimeOptimalParameterization |
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moveit_configs_utils/default_configs/pilz_industrial_motion_planner_planning.yaml
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moveit_core/planning_interface/include/moveit/planning_interface/planning_response_adapter.h
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| @@ -0,0 +1,80 @@ | ||
| /********************************************************************* | ||
| * Software License Agreement (BSD License) | ||
| * | ||
| * Copyright (c) 2023, PickNik Inc. | ||
| * All rights reserved. | ||
| * | ||
| * Redistribution and use in source and binary forms, with or without | ||
| * modification, are permitted provided that the following conditions | ||
| * are met: | ||
| * | ||
| * * Redistributions of source code must retain the above copyright | ||
| * notice, this list of conditions and the following disclaimer. | ||
| * * Redistributions in binary form must reproduce the above | ||
| * copyright notice, this list of conditions and the following | ||
| * disclaimer in the documentation and/or other materials provided | ||
| * with the distribution. | ||
| * * Neither the name of PickNik Inc. nor the names of its | ||
| * contributors may be used to endorse or promote products derived | ||
| * from this software without specific prior written permission. | ||
| * | ||
| * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS | ||
| * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT | ||
| * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS | ||
| * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE | ||
| * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, | ||
| * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, | ||
| * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; | ||
| * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER | ||
| * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT | ||
| * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN | ||
| * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE | ||
| * POSSIBILITY OF SUCH DAMAGE. | ||
| *********************************************************************/ | ||
|
|
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| /* Author: Sebastian Jahr */ | ||
|
|
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| #pragma once | ||
|
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| #include <moveit/macros/class_forward.h> | ||
| #include <moveit/planning_interface/planning_interface.h> | ||
| #include <rclcpp/logging.hpp> | ||
| #include <rclcpp/node.hpp> | ||
|
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| namespace planning_interface | ||
| { | ||
| MOVEIT_CLASS_FORWARD(PlanningResponseAdapter); // Defines PlanningResponseAdapterPtr, ConstPtr, WeakPtr... etc | ||
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| /** @brief Concept in MoveIt which can be used to modify the planning problem and resulting trajectory (pre-processing | ||
| * and/or post-processing) for a motion planner. PlanningResponseAdapter enable using multiple motion planning and | ||
| * trajectory generation algorithms in sequence to produce robust motion plans. | ||
| */ | ||
| class PlanningResponseAdapter | ||
| { | ||
| public: | ||
| /** \brief Initialize parameters using the passed Node and parameter namespace. | ||
| * @param node Node instance used by the adapter | ||
| * @param parameter_namespace Parameter namespace for adapter | ||
| If no initialization is needed, simply implement as empty */ | ||
| virtual void initialize(const rclcpp::Node::SharedPtr& node, const std::string& parameter_namespace) = 0; | ||
|
|
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| /** \brief Get a description of this adapter | ||
| * @return Returns a short string that identifies the planning response adapter | ||
| */ | ||
| [[nodiscard]] virtual std::string getDescription() const = 0; | ||
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| /** \brief Adapt the planning request if needed, call the planner | ||
| function \e planner and update the planning response if | ||
| needed. If the response is changed, the index values of the | ||
| states added without planning are added to \e | ||
| added_path_index | ||
| * @param planner Pointer to the planner used to solve the passed problem | ||
| * @param planning_scene Representation of the environment for the planning | ||
| * @param req Motion planning request with a set of constraints | ||
| * @param res Reference to which the generated motion plan response is written to | ||
| * @return True if response got generated correctly */ | ||
| [[nodiscard]] virtual bool adapt(const planning_scene::PlanningSceneConstPtr& planning_scene, | ||
| const planning_interface::MotionPlanRequest& req, | ||
| planning_interface::MotionPlanResponse& res) const = 0; | ||
| }; | ||
| } // namespace planning_interface |
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