Add planner configurations to CHOMP and PILZ #1522
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## main #1522 +/- ##
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+ Coverage 50.97% 50.98% +0.01%
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Files 380 380
Lines 31758 31768 +10
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+ Hits 16186 16194 +8
- Misses 15572 15574 +2
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(cherry picked from commit 888fc53)
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This reverts commit 888fc53.
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This attempts to cleanup the mess in configuring multiple planning pipelines, which exists since the very beginning and was changed back and forth since then, see moveit#1096, moveit#1114, moveit#1522. This PR removes MoveItCpp::getPlanningPipelineNames(), which was obviously intended initially to provide a planning-group-based filter for all available planning pipelines: A pipeline was discarded for a group, if there were no `planner_configs` defined for that group on the parameter server. As pointed out in moveit#1522, only OMPL actually explicitly declares planner_configs on the parameter server. To enable all other pipelines as well (and thus circumventing the original filter mechanism), moveit#1522 introduced empty dummy planner_configs for all other planners as well (CHOMP + Pilz). This, obviously, renders the whole filter mechanism useless. Thus, here we just remove the function getPlanningPipelineNames().
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This reverts commit 888fc53.
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This attempts to cleanup the mess in configuring multiple planning pipelines, which exists since the very beginning and was changed back and forth since then, see moveit#1096, moveit#1114, moveit#1522. This PR removes MoveItCpp::getPlanningPipelineNames(), which was obviously intended initially to provide a planning-group-based filter for all available planning pipelines: A pipeline was discarded for a group, if there were no `planner_configs` defined for that group on the parameter server. As pointed out in moveit#1522, only OMPL actually explicitly declares planner_configs on the parameter server. To enable all other pipelines as well (and thus circumventing the original filter mechanism), moveit#1522 introduced empty dummy planner_configs for all other planners as well (CHOMP + Pilz). This, obviously, renders the whole filter mechanism useless. Thus, here we just remove the function getPlanningPipelineNames().
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This reverts commit 888fc53.
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This attempts to cleanup the mess in configuring multiple planning pipelines, which exists since the very beginning and was changed back and forth since then, see moveit#1096, moveit#1114, moveit#1522. This PR removes MoveItCpp::getPlanningPipelineNames(), which was obviously intended initially to provide a planning-group-based filter for all available planning pipelines: A pipeline was discarded for a group, if there were no `planner_configs` defined for that group on the parameter server. As pointed out in moveit#1522, only OMPL actually explicitly declares planner_configs on the parameter server. To enable all other pipelines as well (and thus circumventing the original filter mechanism), moveit#1522 introduced empty dummy planner_configs for all other planners as well (CHOMP + Pilz). This, obviously, renders the whole filter mechanism useless. Thus, here we just remove the function getPlanningPipelineNames().
sjahr
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This reverts commit 888fc53.
sjahr
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Nov 15, 2022
This attempts to cleanup the mess in configuring multiple planning pipelines, which exists since the very beginning and was changed back and forth since then, see moveit#1096, moveit#1114, moveit#1522. This PR removes MoveItCpp::getPlanningPipelineNames(), which was obviously intended initially to provide a planning-group-based filter for all available planning pipelines: A pipeline was discarded for a group, if there were no `planner_configs` defined for that group on the parameter server. As pointed out in moveit#1522, only OMPL actually explicitly declares planner_configs on the parameter server. To enable all other pipelines as well (and thus circumventing the original filter mechanism), moveit#1522 introduced empty dummy planner_configs for all other planners as well (CHOMP + Pilz). This, obviously, renders the whole filter mechanism useless. Thus, here we just remove the function getPlanningPipelineNames().
sjahr
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This reverts commit 888fc53.
sjahr
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Nov 15, 2022
This attempts to cleanup the mess in configuring multiple planning pipelines, which exists since the very beginning and was changed back and forth since then, see moveit#1096, moveit#1114, moveit#1522. This PR removes MoveItCpp::getPlanningPipelineNames(), which was obviously intended initially to provide a planning-group-based filter for all available planning pipelines: A pipeline was discarded for a group, if there were no `planner_configs` defined for that group on the parameter server. As pointed out in moveit#1522, only OMPL actually explicitly declares planner_configs on the parameter server. To enable all other pipelines as well (and thus circumventing the original filter mechanism), moveit#1522 introduced empty dummy planner_configs for all other planners as well (CHOMP + Pilz). This, obviously, renders the whole filter mechanism useless. Thus, here we just remove the function getPlanningPipelineNames().
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* Revert "Add planner configurations to CHOMP and PILZ (#1522)" * Cleanup lookup of planning pipelines Remove MoveItCpp::getPlanningPipelineNames(), which was obviously intended initially to provide a planning-group-based filter for all available planning pipelines: A pipeline was discarded for a group, if there were no `planner_configs` defined for that group on the parameter server. As pointed out in #1522, only OMPL actually explicitly declares planner_configs on the parameter server. To enable all other pipelines as well (and thus circumventing the original filter mechanism), #1522 introduced empty dummy planner_configs for all other planners as well (CHOMP + Pilz). This, obviously, renders the whole filter mechanism useless. Thus, here we just remove the function getPlanningPipelineNames() and the corresponding member groups_pipelines_map_.
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Description
Right now it is not possible to use planners other than OMPL with the moveit_cpp interface. The reason for this is the following:
When the plan() method of the planning component gets called, all available planning pipelines are searched based on their name [1]. These names are provided by moveit_cpp [2]. The moveit_cpp function that provides the planning pipeline names reads them from an internal map [3]. A planning pipelines needs to have a planner plugin that has a PlannerConfiguration in order to be added to this map [4]. This PR adds the missing configuations to CHOMP and PILZ to make them usable in moveit_cpp and in addition to that it makes the PlannerManager's
setPlannerConfigurationsfunction pure virtual to remind futur planning plugin implementations to add a planner configuationChecklist