[melodic] forward-port generate state db #1253 #1283
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The flags are never checked anyway below, so it does not build without OpenMP at the moment.
In some situations, it makes sense to define Constraints
via ros parameters to ease configuration or circumvent
repeated definitions.
A constraint can constructed from ROS parameters with the following
structure:
path_constraint:
name: tool0_upright
constraints:
- type: orientation
frame_id: world
link_name: tool0
orientation: [0, 0, 0]
tolerances: [0.01, 0.01, 3.15]
weight: 1.0
- type: joint
joint_name: pan_joint
position: 0.0
tolerance: 1.0
weight: 1.0
- type: position
frame_id: world
link_name: tool0
target_offset: [.5,0,1.0]
region:
x: [0,2]
y: [-2,2]
z: [.5,2.5]
Previously, we only shipped a demo_construct_state_database.cpp
that hard-coded all parameters for a specific setup.
This work generalizes the code and provides a utility that
can be configured via ROS parameters.
Assuming a MoveIt configuration is running,
an example launch file to use the utility might look like this:
<launch>
<node name="generate_state_database" pkg="moveit_planners_ompl" type="generate_state_database" output="screen">
<param name="use_current_scene" value="false"/>
<param name="planning_group" value="arm"/>
<remap from="~output_folder" to="move_group/constraint_approximations_path"/>
<rosparam ns="constraints">
path_constraint:
name: tool0_upright
constraints:
- type: orientation
frame_id: world
link_name: tool0
orientation: [0, 0, 0]
tolerances: [0.01, 0.01, 3.15]
weight: 1.0
</rosparam>
</node>
</launch>
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Forward port of #1253 .