Enable mdof trajectory execution #2740
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This was referenced Mar 18, 2024
henningkayser
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Mar 18, 2024
moveit_ros/move_group/src/default_capabilities/execute_trajectory_action_capability.cpp
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henningkayser
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Mar 18, 2024
sjahr
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Mar 18, 2024
| } | ||
| } | ||
| // clear velocities if we have an incomplete specification | ||
| if (joint_trajectory.points[i].velocities.size() != onedof.size()) |
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Maybe print and error message here, since this probably indicates a bug somewhere
moveit_ros/move_group/src/default_capabilities/execute_trajectory_action_capability.cpp
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…nterfaces" This reverts commit 885ee27.
henningkayser
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I've put some of the open requests into #2773, since they seem out of scope of the new free function to me. I'm happy to provide API cleanup after mdof support has been completed. |
sjahr
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Mar 27, 2024
moveit_core/robot_trajectory/include/moveit/robot_trajectory/robot_trajectory.h
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| if (!joint_trajectory.joint_names.empty()) | ||
| { | ||
| joint_trajectory.header.frame_id = robot_model->getModelFrame(); | ||
| joint_trajectory.header.stamp = rclcpp::Time(0, 0, RCL_ROS_TIME); | ||
| joint_trajectory.points.resize(trajectory.getWayPointCount()); | ||
| } |
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| if (!joint_trajectory.joint_names.empty()) | |
| { | |
| joint_trajectory.header.frame_id = robot_model->getModelFrame(); | |
| joint_trajectory.header.stamp = rclcpp::Time(0, 0, RCL_ROS_TIME); | |
| joint_trajectory.points.resize(trajectory.getWayPointCount()); | |
| } | |
| if (joint_trajectory.joint_names.empty()) | |
| { | |
| return std::nullopt; | |
| } | |
| joint_trajectory.header.frame_id = robot_model->getModelFrame(); | |
| joint_trajectory.header.stamp = rclcpp::Time(0, 0, RCL_ROS_TIME); | |
| joint_trajectory.points.resize(trajectory.getWayPointCount()); |
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Shouldn't we just exit the function here if joint_names is empty?
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with the updated logic, I would just keep it the way it is probably
moveit_ros/planning/trajectory_execution_manager/src/trajectory_execution_manager.cpp
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moveit_ros/planning/trajectory_execution_manager/src/trajectory_execution_manager.cpp
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moveit_ros/planning/trajectory_execution_manager/src/trajectory_execution_manager.cpp
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moveit_ros/planning/trajectory_execution_manager/src/trajectory_execution_manager.cpp
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moveit_ros/planning/trajectory_execution_manager/src/trajectory_execution_manager.cpp
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moveit_ros/planning/trajectory_execution_manager/src/trajectory_execution_manager.cpp
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Signed-off-by: Paul Gesel <paulgesel@gmail.com>
Abishalini
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Apr 24, 2024
EzraBrooks
approved these changes
Apr 30, 2024
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This implements preparative steps to enable mobile base trajectory execution using ros2_control JTC.
In particular, these changes convert mdof trajectories into joint trajectories using the local variables which in turn can be supported by ros2_control already.
An example for a functioning setup with the Stretch robot + JTC + chained DiffDrive is provided in PickNikRobotics/stretch_ros#48