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Add hybrid planning feature #488

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wants to merge 26 commits into from
Closed

Add hybrid planning feature #488

wants to merge 26 commits into from

Commits on Sep 28, 2021

  1. Hybrid planning architecture (#311) 

    * Add hybrid_planning architecture skeleton code
* Add simple state machines to hybrid planning manager and local planner
* Initial global planner prototype implementation
* Forward joint_trajectory with local planner
* Forward hybrid planning motion request to global planner
* Abstract planner logic from hybrid planning manager by using a plugin
* Implement single plan execution logic
* Add test launch files, RViz and demo config
* Add test for motion_planning_request
    @sjahr
    sjahr committed Sep 28, 2021
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  2. Refine local planner component (#326) 

    * Make local planner component generic
* Add next_waypoint_sampler trajectory operator
* Update hybrid planning test to include collision object
* Clean up code and fix minor bugs.
* Update local planner component parameter
* Add local collision constraint solver
* Update planning scene topic name and test node
* Fix bugs and runtime errors in local planner component and it's plugins
* Add collision object that invalidates global trajectory
* Add simple "stop in front of collision object" demo
* Add hybrid planning manager reaction to local planner feedback
* Fix ament_lint_cmake
* Ensure that local planner start command and collision event are send once
* Add simple replanning logic plugin
* Use current state as start state for global planner
* Use RobotTrajectory instead of constraint vector describe local problem
* Add PlanningSceneMonitorPtr to local solver plugin
* Add local planner frequency parameter
* Use PID controller to create control outputs for robot controller
* Add hybrid_planning_manager config file
* Add more complex test node
* Update README
* Reset index in next_waypoint_sampler
* Use correct isPathValid() interface
* Rename path_invalidation flag
* Read planning scene instead of cloning it in local planner
* Add TODO creator
* Rename local constraint solver plugin
* Use read-locked access to the planning scene for collision checking
* Rename constraint_solver into local_constraint_solver
* Add missing pointer initialization
    @sjahr
    sjahr committed Sep 28, 2021
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  3. Code cleanup & MoveIt best practices (#351) 

    * Export missing plugins
* Use std::chrono_literals
* Construct smart pointers with std::make_* instead of 'new'
* Fixup const-ref in function signatures, reduce copies
* Improve planning scene locking, robot state processing, controller logic
    @henningkayser @sjahr
    henningkayser authored and sjahr committed Sep 28, 2021
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  4. Restructure hybrid_planning package (#426) 

    * Add forward_trajectory local solver plugin (#359)
* Use ros2_control based joint simulation and remove unnecessary comment
* Update copyrights
* Restructure hybrid planning package
* Fix formatting and add missing time stamp in local solver plugin
* Remove unnecessary logging and param loading
* Enable different interfaces between local planner and controller
* Use JointGroupPositionController as demo hardware controller
    @sjahr
    sjahr committed Sep 28, 2021
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  5. Refactor local planner plugins (#447) 

    * Add reset method for trajectory operator and local constraint sampler
* Refactor next_waypoint_sampler into simple_sampler
* Include collision checking to forward_trajectory and remove unneeded plugin
* Fix formatting and plugin description
* Update README and add missing planner logic plugin description
    @sjahr
    sjahr committed Sep 28, 2021
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  6. Add TODO to use lifecycle components nodes to trigger initialization

    @sjahr
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  7. Return a reaction result instead of bool on react()

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    sjahr committed Sep 28, 2021
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  8. Set invalidation flag to false on reset() in ForwardTrajectory local … 

    …solver
    @sjahr
    sjahr committed Sep 28, 2021
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  9. Return local planner feedback from trajectory operator function calls

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    sjahr committed Sep 28, 2021
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  10. Fix segfault caused by passing through the global trajectory

    @sjahr
    sjahr committed Sep 28, 2021
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  11. Update comment, unify logging and add missing config parameters

    @sjahr
    sjahr committed Sep 28, 2021
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  12. Update to rolling

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    sjahr committed Sep 28, 2021
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  13. Add generic global planner plugin, support MotionSequenceRequest (#585)

    @sjahr
    sjahr committed Sep 28, 2021
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  14. Fix hybrid planning include folders (#675)

    @henningkayser @sjahr
    henningkayser authored and sjahr committed Sep 28, 2021
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  15. Order stuff in the CMakeLists.txt and remove control_box package

    @sjahr
    sjahr committed Sep 28, 2021
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  16. Update README

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    sjahr committed Sep 28, 2021
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  17. Move member initialization to initializer lists

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  18. Remove control_box include dependency

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  19. Replace "loop-run" with "iteration"

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  20. Remove cpp interface class constructors and destructors

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  21. Use joint_state_broadcaster, clean up test node, add execution depend… 

    …encies
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  22. Use only plugin interface header files and add missing dependencies

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  23. Clean up constructor and destructor definitions

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  24. Declare missing parameter in moveit_planning_pipeline_plugin

    @sjahr
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  25. Move rclcpp::Loggers into anonymous namespaces

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  26. Switch CI branches to feature/hybrid_planning

    @henningkayser
    henningkayser committed Sep 28, 2021
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