added STOMP planner in moveit_planners #965

raghavendersahdev · 2018-06-29T17:47:38Z

Addition of STOMP Planner into moveit planner

This PR is a work done by Raghavender as a part of 2018 Google summer of code. This PR adds the functionality of STOMP as implemented in ros-industrial/industrial_moveit repo and adds it to moveIt. It merges stomp_moveit and stomp_plugins packages into one package. Only the stomp_moveit and stomp_plugins packages are taken from industrial_moveit. All other packages stay in industrial_moveit and stomp_core package is a pre-requisite to run STOMP in moveit planners

Checklist

addition of STOMP motion planner into moveit
merges the 2 packages stomp_moveit and stomp_plugins into one package
stomp_core package is a pre-requisite dependency to run STOMP in moveIt. stomp_core must be built from source as its not released as a debian yet.
addition of STOMP configuration files (stomp_planning_pipeline.launch.xml and stomp_planning.yaml generated from the setup assistant code) into the moveit setup assisant

raghavendersahdev · 2018-06-29T17:56:28Z

I need look at this PR more closely, travis seems to be failing currently.

davetcoleman

will review further once travis passes

davetcoleman · 2018-06-29T21:38:19Z

moveit_planners/stomp/CHANGELOG.rst

+0.1.0 (2017-03-14)
+------------------
+* Initial release
+* Contributors: Jonathan Meyer, Levi Armstrong, Jorge Nicho


@Jmeyer1292 @Levi-Armstrong @jrgnicho fyi

davetcoleman · 2018-06-29T21:39:59Z

moveit_planners/stomp/example_pages.dox

+  - joint_update_rates:     The rates at which to update the joints during numerical ik computations.
+  - max_ik_iterations:      Limit on the number of iterations allowed for numerical ik computations.
+*/
+


Did you reference any of this documentation when writing moveit/moveit_tutorials#185?

@davetcoleman yes I addressed these here, here and here . I think I should change these links to belong to the new moveit link of this file once this gets merged and open a small new PR for this... Or alternatively I could just link it to this file right now. But this would cause travis to fail.

davetcoleman · 2018-06-29T21:40:10Z

moveit_planners/stomp/examples/stomp_config_example.yaml

+    num_iterations_after_valid: 0    
+    num_rollouts: 10
+    max_rollouts: 100
+    initialization_method: 1 #[1 : LINEAR_INTERPOLATION, 2 : CUBIC_POLYNOMIAL, 3 : MININUM_CONTROL_COST


davetcoleman · 2018-06-29T21:40:41Z

moveit_planners/stomp/examples/stomp_planning_pipeline.launch.xml

@@ -0,0 +1,19 @@
+<launch>


move this into the setup assistant template

davetcoleman · 2018-06-29T21:40:46Z

moveit_planners/stomp/examples/stomp_config_example.yaml

@@ -0,0 +1,60 @@
+stomp/manipulator:


move this into the setup assistant template

integrated this into the moveit setup assistant in my commit here

davetcoleman · 2018-06-29T21:41:05Z

moveit_planners/stomp/include/stomp_moveit/cost_functions/collision_check.h

+ * limitations under the License.
+ */
+#ifndef INDUSTRIAL_MOVEIT_STOMP_MOVEIT_INCLUDE_STOMP_MOVEIT_COST_FUNCTIONS_COLLISION_CHECK_H_
+#define INDUSTRIAL_MOVEIT_STOMP_MOVEIT_INCLUDE_STOMP_MOVEIT_COST_FUNCTIONS_COLLISION_CHECK_H_


change to new package name

changed this one to MOVEIT_STOMP_MOVEIT_INCLUDE_STOMP_MOVEIT_COST_FUNCTIONS_COLLISION_CHECK_H_ and also in all other header files.

bmagyar · 2018-06-30T07:18:56Z

Probably stating the obvious but the CI clearly fails due to stomp_core not being available. I don't think it would be too much of an overhaul to bring that here too. CHOMP also has a separation of planner and plugin, STOMP could follow the same setup.

raghavendersahdev · 2018-07-01T23:25:52Z

Thanks @bmagyar , yes stomp_core can also be brought here if required ! @davetcoleman @mamoll

v4hn · 2018-07-02T11:35:22Z

I'm confused.

Didn't we agree with @Levi-Armstrong @jrgnicho and @gavanderhoorn that the stomp planner is maintained in the separate ROS-I-maintained repository until they decide that they do not want to maintain it anymore?

This proposal would add a lot of new code to the repository which very few of the current maintainers ever looked at.

I fail to see the advantage in merging this.

davetcoleman · 2018-07-04T03:05:44Z

Reasoning/Advantages:

Easier to use stomp with moveit and other planners
Easier to fix bugs if moveit API changes
We are only moving the moveit interface of stomp

But certainly I'd like to hear Levi's et al's opinion

… files from moveit_setup_assistant

henningkayser · 2019-03-07T10:11:11Z

@raghavendersahdev @davetcoleman @v4hn what's the current state on this?.
Apparently STOMP should fully remain in industrial_moveit or in a separate repo in the future.
Porting only the smoothing adapter or the moveit interface would add dependencies to stomp_core which need to be handled so I don't see the advantage in separating the packages.

davetcoleman · 2019-03-08T02:05:30Z

I think @gavanderhoorn might have the latest update regarding creating a standalone repo to host stomp within ros-i...

raghavendersahdev · 2019-03-08T02:17:14Z

I guess its waiting to get more info about the stomp repo depending on what ROS-industrial says . . I can resolve this as soon as we finalize how we want to have STOMP with MoveIt and Stomp core package..

This PR 965 is superseded / overridden by this PR 1081 which has the STOMP planning adapter also incorporated..

jrgnicho · 2019-03-08T17:57:28Z

I think at this point all we need is a repository to put the stomp packages on (stomp_core, stomp_moveit and stomp_plugins). I'm not sure if the "stomp_test..." packages should go there as well since there's only one stomp specific yaml file that demonstrates how to configure the stomp planner.

bmagyar · 2019-03-10T22:34:15Z

If there's interest I can add one for PAL's Tiago and the rob@work (RaW) Fraunhofer robots

jrgnicho · 2019-03-28T18:12:49Z

@bmagyar that would be nice, you (or anyone interested) may wanna join the ongoing discussion in this PR

v4hn · 2019-08-21T13:16:56Z

Obsolete since @gavanderhoorn created the stomp_ros repository some time ago.

davetcoleman reviewed Jun 29, 2018

View reviewed changes

raghavendersahdev force-pushed the stomp_planner branch 4 times, most recently from bfbc3c1 to 1f133f5 Compare July 10, 2018 03:20

raghavendersahdev mentioned this pull request Jul 10, 2018

added STOMP related planning files moveit/panda_moveit_config#5

Merged

raghavendersahdev force-pushed the stomp_planner branch from 94bf5e9 to f860444 Compare August 2, 2018 05:34

raghavendersahdev force-pushed the stomp_planner branch from f860444 to 2a0bb93 Compare August 10, 2018 20:36

raghavendersahdev added 5 commits August 17, 2018 08:47

added STOMP planner in moveit_planners

005fffb

addressed PR changes

d4f2ea8

generating stomp_planning.yaml and stomp_planning_pipeline.launch.xml…

3bc35f6

… files from moveit_setup_assistant

added STOMP Unit Tests

296d2ed

applied clang format

a7c14dc

raghavendersahdev force-pushed the stomp_planner branch from 2a0bb93 to a7c14dc Compare August 17, 2018 12:47

This was referenced Oct 9, 2018

Stomp Smoothing Planning Request Adapter #1081

Closed

STOMP Smoothing Adapter ros-industrial/industrial_moveit#78

Closed

henningkayser assigned henningkayser and unassigned henningkayser Mar 14, 2019

henningkayser added the state unclear label Mar 14, 2019

v4hn closed this Aug 21, 2019

JafarAbdi pushed a commit to JafarAbdi/moveit that referenced this pull request Mar 24, 2022

Mergify configuration for Galactic backport (moveit#965)

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added STOMP planner in moveit_planners #965

added STOMP planner in moveit_planners #965

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added STOMP planner in moveit_planners #965

added STOMP planner in moveit_planners #965

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raghavendersahdev commented Jun 29, 2018 • edited

Addition of STOMP Planner into moveit planner

Checklist

raghavendersahdev commented Jun 29, 2018

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bmagyar commented Jun 30, 2018

raghavendersahdev commented Jul 1, 2018

v4hn commented Jul 2, 2018

davetcoleman commented Jul 4, 2018

henningkayser commented Mar 7, 2019

davetcoleman commented Mar 8, 2019

raghavendersahdev commented Mar 8, 2019

jrgnicho commented Mar 8, 2019

bmagyar commented Mar 10, 2019

jrgnicho commented Mar 28, 2019

v4hn commented Aug 21, 2019

raghavendersahdev commented Jun 29, 2018 •

edited