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[hybrid planning] improve planning scene monitoring #1090

Merged
merged 12 commits into from
Apr 4, 2023
Merged

[hybrid planning] improve planning scene monitoring #1090

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caf7389
Create new PSM in local constraint solver. Different type of collisio…
AndyZe Feb 23, 2022
8047704
Small boolean logic fixup
AndyZe Feb 24, 2022
4d5f68d
Don't configure planning scene monitor twice and pass scene as const
sjahr Mar 13, 2023
00f98d6
Remove not required call of updateSceneWithCurrentState()
sjahr Mar 15, 2023
009fad3
Revert PlanningSceneMonitorConstPtr to PlanningSceneMonitorPtr
sjahr Mar 21, 2023
68a854e
Set planning_scene_monitor update rate
sjahr Mar 21, 2023
c7ad8ca
Decrease planning scene update rate
sjahr Mar 24, 2023
69f844c
Use `updateSceneWithCurrentState()` in psm
AndyZe Mar 25, 2023
45ab01e
Merge branch 'main' into andyz/hp_psm
AndyZe Mar 25, 2023
2574cfa
Merge branch 'main' into andyz/hp_psm
sjahr Mar 28, 2023
dbe137d
Merge branch 'main' into andyz/hp_psm
AndyZe Apr 3, 2023
1055da2
Revert the manner of collision checking
AndyZe Apr 3, 2023
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5 changes: 4 additions & 1 deletion .../hybrid_planning/local_planner/local_constraint_solver_plugins/src/forward_trajectory.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -60,10 +60,12 @@ bool ForwardTrajectory::initialize(const rclcpp::Node::SharedPtr& node,
{
stop_before_collision_ = node->declare_parameter<bool>("stop_before_collision", false);
}
planning_scene_monitor_ = planning_scene_monitor;
node_ = node;
path_invalidation_event_send_ = false;
num_iterations_stuck_ = 0;

planning_scene_monitor_ = planning_scene_monitor;
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return true;
}

Expand Down Expand Up @@ -106,6 +108,7 @@ ForwardTrajectory::solve(const robot_trajectory::RobotTrajectory& local_trajecto
bool is_path_valid = false;
// Lock the planning scene as briefly as possible
{
planning_scene_monitor_->updateSceneWithCurrentState();
planning_scene_monitor::LockedPlanningSceneRO locked_planning_scene(planning_scene_monitor_);
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current_state = std::make_shared<moveit::core::RobotState>(locked_planning_scene->getCurrentState());
is_path_valid = locked_planning_scene->isPathValid(local_trajectory, local_trajectory.getGroupName(), false);
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6 changes: 3 additions & 3 deletions ...ros/hybrid_planning/local_planner/local_planner_component/src/local_planner_component.cpp
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Expand Up @@ -95,7 +95,9 @@ bool LocalPlannerComponent::initialize()
// Start state and scene monitors
planning_scene_monitor_->startSceneMonitor(config_.monitored_planning_scene_topic);
planning_scene_monitor_->startWorldGeometryMonitor(config_.collision_object_topic);
planning_scene_monitor_->startStateMonitor(config_.joint_states_topic);
planning_scene_monitor_->startStateMonitor(config_.joint_states_topic, "/attached_collision_object");
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planning_scene_monitor_->monitorDiffs(true);
planning_scene_monitor_->stopPublishingPlanningScene();

// Load trajectory operator plugin
try
Expand Down Expand Up @@ -264,8 +266,6 @@ void LocalPlannerComponent::executeIteration()
// If the planner received an action request and a global solution it starts to plan locally
case LocalPlannerState::LOCAL_PLANNING_ACTIVE:
{
planning_scene_monitor_->updateSceneWithCurrentState();

// Read current robot state
const moveit::core::RobotState current_robot_state = [this] {
planning_scene_monitor::LockedPlanningSceneRO ls(planning_scene_monitor_);
Expand Down