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[pr2eus_moveit] Add timeout arg for computing IK and increase timeout for test #438

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Jul 21, 2021
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[pr2eus_moveit] Add timeout arg for computing IK and increase timeout for test #438

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[pr2eus_moveit] Add timeout arg for computing IK and increase timeout…
708yamaguchi May 14, 2020
0274831
Merge branch 'master' into add-ik-timeout
k-okada Jul 21, 2021
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9 changes: 5 additions & 4 deletions pr2eus_moveit/euslisp/robot-moveit.l
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Original file line number Diff line number Diff line change
Expand Up @@ -390,15 +390,15 @@
consts))
(:planning-make-trajectory-to-coords ;; use-ik
(cds confkey &rest args &key (end-coords) ;; (list :rarm :end-coords)
(planning-time 5.0) (scene) (frame-id default-frame-id)
(planning-time 5.0) (scene) (frame-id default-frame-id) (timeout 0.05)
(planning-attempts 3) (retry) (use-scene t)
(multi-dof-joint-constraints)
&allow-other-keys)
"Solve inverse-kinematics for constructing joint constraints and request a plan"
(let (ret consts)
(unless scene (setq scene (send self :get-planning-scene)))
(setq ret (send self :get-ik-for-pose cds confkey :end-coords end-coords
:use-actual-seed t :retry retry :frame-id frame-id :scene scene :use-multi-dof t)) ;; (av . multi-dof-js) or nil
:use-actual-seed t :retry retry :frame-id frame-id :scene scene :timeout timeout :use-multi-dof t)) ;; (av . multi-dof-js) or nil
(unless ret (return-from :planning-make-trajectory-to-coords nil))
(when multi-dof-joint-constraints
(if (member :extra-goal-constraints args)
Expand Down Expand Up @@ -433,13 +433,14 @@
))
(:planning-move-arm-to-coords
(cds confkey &key (end-coords) ;; (list :rarm :end-coords)
(planning-time 5.0) (scene) (frame-id default-frame-id)
(planning-time 5.0) (scene) (frame-id default-frame-id) (timeout 0.05)
(planning-attempts 3) (retry) (use-scene t) (wait t)
&allow-other-keys)
(let (ret)
(unless scene (setq scene (send self :get-planning-scene)))
(unless (send self :get-ik-for-pose cds confkey :end-coords end-coords
:use-actual-seed t :retry retry :frame-id frame-id :scene scene)
:use-actual-seed t :retry retry :frame-id frame-id :scene scene
:timeout timeout)
(return-from :planning-move-arm-to-coords nil))
(send self :planning-move-arm confkey
:planning-time planning-time :planning-attempts planning-attempts
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8 changes: 4 additions & 4 deletions pr2eus_moveit/test/test-pr2eus-moveit.l
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Original file line number Diff line number Diff line change
Expand Up @@ -201,11 +201,11 @@

;; send target coords
(deftest test-move-end-coords-plan ()
(let (tm-0 tm-1 tm-diff)
(send *ri* :move-end-coords-plan (make-coords :pos #f(700 0 750)) :move-arm :rarm)
(send *ri* :move-end-coords-plan (make-coords :pos #f(700 0 500)) :move-arm :larm)
(let (tm-0 tm-1 tm-diff (timeout 0.5))
(send *ri* :move-end-coords-plan (make-coords :pos #f(700 0 750)) :move-arm :rarm :timeout timeout)
(send *ri* :move-end-coords-plan (make-coords :pos #f(700 0 500)) :move-arm :larm :timeout timeout)
(send *ri* :wait-interpolation)
(send *ri* :move-end-coords-plan (make-coords :pos #f(700 0 1000)) :move-arm :larm-torso)
(send *ri* :move-end-coords-plan (make-coords :pos #f(700 0 1000)) :move-arm :larm-torso :timeout timeout)
(setq tm-0 (ros::time-now))
(send *ri* :wait-interpolation)
(setq tm-1 (ros::time-now))
Expand Down