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Trajectory processing, port to ROS 2 #63

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merged 9 commits into from
Jun 12, 2019
Merged

Trajectory processing, port to ROS 2 #63

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648862a
Port trajectory_processing to ROS 2
vmayoral Mar 31, 2019
c512827
trajectory_processing, fix logging according to https://github.com/ro…
vmayoral Mar 31, 2019
4fc9f93
Merge branch 'moveit2' into trajectory-processing
vmayoral Apr 5, 2019
990ec9c
Fix trajectory_processing tests
ahcorde Apr 25, 2019
3abb84f
moveit_core trajectory processing - library as SHARED
ahcorde May 24, 2019
ae8a43d
Fixing trajectory_processing tests
ahcorde Apr 26, 2019
cadbebd
Merge branch 'master' into trajectory-processing
ahcorde May 24, 2019
89c29ce
moveit_core trajectory_processing - fixing time
ahcorde May 24, 2019
db5104d
clang and whitespace
May 31, 2019
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3 changes: 1 addition & 2 deletions moveit_core/robot_state/CMakeLists.txt
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Original file line number Diff line number Diff line change
Expand Up @@ -27,7 +27,6 @@ ament_target_dependencies(${MOVEIT_LIB_NAME}
urdf
tf2_geometry_msgs
)

install(TARGETS ${MOVEIT_LIB_NAME}
LIBRARY DESTINATION lib
ARCHIVE DESTINATION lib)
Expand All @@ -43,7 +42,7 @@ if(BUILD_TESTING)
include_directories(${moveit_resources_INCLUDE_DIRS})

if(WIN32)
# set(append_library_dirs "$<TARGET_FILE_DIR:${PROJECT_NAME}>;$<TARGET_FILE_DIR:${PROJECT_NAME}_TestPlugins1>")
# TODO add windows paths
else()
set(append_library_dirs "${CMAKE_CURRENT_BINARY_DIR};${CMAKE_CURRENT_BINARY_DIR}/../utils")
endif()
Expand Down
54 changes: 42 additions & 12 deletions moveit_core/trajectory_processing/CMakeLists.txt
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@@ -1,27 +1,57 @@
set(MOVEIT_LIB_NAME moveit_trajectory_processing)

add_library(${MOVEIT_LIB_NAME}
add_library(${MOVEIT_LIB_NAME} SHARED
src/iterative_time_parameterization.cpp
src/iterative_spline_parameterization.cpp
src/trajectory_tools.cpp
src/time_optimal_trajectory_generation.cpp
)
set_target_properties(${MOVEIT_LIB_NAME} PROPERTIES VERSION "${${PROJECT_NAME}_VERSION}")

target_link_libraries(${MOVEIT_LIB_NAME} moveit_robot_state moveit_robot_trajectory ${catkin_LIBRARIES} ${urdfdom_LIBRARIES} ${urdfdom_headers_LIBRARIES} ${Boost_LIBRARIES})
add_dependencies(${MOVEIT_LIB_NAME} ${catkin_EXPORTED_TARGETS})
set_target_properties(${MOVEIT_LIB_NAME} PROPERTIES VERSION "${${PROJECT_NAME}_VERSION}")
ament_target_dependencies(${MOVEIT_LIB_NAME}
moveit_robot_state
moveit_robot_trajectory
rclcpp
rmw_implementation
urdf
urdfdom
urdfdom_headers
visualization_msgs
Boost)

install(TARGETS ${MOVEIT_LIB_NAME}
ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION})
ARCHIVE DESTINATION lib
LIBRARY DESTINATION lib)

install(DIRECTORY include/ DESTINATION ${CATKIN_GLOBAL_INCLUDE_DESTINATION})
install(DIRECTORY include/ DESTINATION include)

if(CATKIN_ENABLE_TESTING)
if(BUILD_TESTING)
find_package(moveit_resources REQUIRED)
include_directories(${moveit_resources_INCLUDE_DIRS})
catkin_add_gtest(test_time_parameterization test/test_time_parameterization.cpp)
target_link_libraries(test_time_parameterization moveit_test_utils ${catkin_LIBRARIES} ${urdfdom_LIBRARIES} ${urdfdom_headers_LIBRARIES} ${MOVEIT_LIB_NAME})
catkin_add_gtest(test_time_optimal_trajectory_generation test/test_time_optimal_trajectory_generation.cpp)
target_link_libraries(test_time_optimal_trajectory_generation ${catkin_LIBRARIES} ${console_bridge_LIBRARIES} ${MOVEIT_LIB_NAME})
find_package(resource_retriever REQUIRED)

if(WIN32)
# set(append_library_dirs "$<TARGET_FILE_DIR:${PROJECT_NAME}>;$<TARGET_FILE_DIR:${PROJECT_NAME}_TestPlugins1>")
else()
set(append_library_dirs "${CMAKE_CURRENT_BINARY_DIR};${CMAKE_CURRENT_BINARY_DIR}/../robot_trajectory;${CMAKE_CURRENT_BINARY_DIR}/../utils")
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@mlautman mlautman May 29, 2019 •
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Hardcoding relative paths is a bad idea.

I would recommend that for every library in this package that is used else ware you set a <lib_name>_lib_dir environment variable that can then be used by the tests

A good example is the rcl_lib_dir I have taken the time to show how it is used below:

/home/mike/ws_ros2/src/ros2/rcl/rcl/CMakeLists.txt:
   78  
   79: # rcl_lib_dir is passed as APPEND_LIBRARY_DIRS for each ament_add_gtest call so
   80  # the librcl that they link against is on the library path.
   81  # This is especially important on Windows.
   82  # This is overwritten each loop, but which one it points to doesn't really matter.
   83: set(rcl_lib_dir "$<TARGET_FILE_DIR:${PROJECT_NAME}>")
   84  

/home/mike/ws_ros2/src/ros2/rcl/rcl/test/CMakeLists.txt:
   16  
   17: set(extra_lib_dirs "${rcl_lib_dir}")
   18  
   
/home/mike/ws_ros2/src/ros2/rcl/rcl/test/CMakeLists.txt:
   34    rcl_add_custom_gtest(test_client${target_suffix}
   35      SRCS rcl/test_client.cpp
   36:     INCLUDE_DIRS ${osrf_testing_tools_cpp_INCLUDE_DIRS}
   37      ENV ${rmw_implementation_env_var}
   38      APPEND_LIBRARY_DIRS ${extra_lib_dirs}

The example uses rcl_add_custom_gtest but it works just as well with ament_add_gtest

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If you don't mind I prefer to merge this. And then I will fix them all together. Because we have other merged that use this style. I can open an issue to avoid forgetting it.

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#91

endif()

ament_add_gtest(test_time_parameterization test/test_time_parameterization.cpp
APPEND_LIBRARY_DIRS "${append_library_dirs}")

target_include_directories(test_time_parameterization PUBLIC
${geometric_shapes_INCLUDE_DIRS}
)

target_link_libraries(test_time_parameterization
moveit_test_utils
moveit_robot_trajectory
moveit_trajectory_processing
${urdfdom_LIBRARIES}
${srdfdom_LIBRARIES}
${urdfdom_headers_LIBRARIES}
${MOVEIT_LIB_NAME}
${geometric_shapes_LIBRARIES}
resource_retriever::resource_retriever
)
endif()
3 changes: 2 additions & 1 deletion ...ctory_processing/include/moveit/trajectory_processing/iterative_spline_parameterization.h
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Expand Up @@ -38,10 +38,11 @@
#ifndef MOVEIT_TRAJECTORY_PROCESSING_ITERATIVE_SPLINE_PARAMETERIZATION__
#define MOVEIT_TRAJECTORY_PROCESSING_ITERATIVE_SPLINE_PARAMETERIZATION__

#include <trajectory_msgs/JointTrajectory.h>
#include <trajectory_msgs/msg/joint_trajectory.hpp>
#include <moveit_msgs/msg/joint_limits.hpp>
#include <moveit_msgs/msg/robot_state.hpp>
#include <moveit/robot_trajectory/robot_trajectory.h>
#include "rclcpp/rclcpp.hpp"

namespace trajectory_processing
{
Expand Down
3 changes: 2 additions & 1 deletion ...jectory_processing/include/moveit/trajectory_processing/iterative_time_parameterization.h
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Expand Up @@ -37,10 +37,11 @@
#ifndef MOVEIT_TRAJECTORY_PROCESSING_ITERATIVE_PARABOLIC_SMOOTHER_
#define MOVEIT_TRAJECTORY_PROCESSING_ITERATIVE_PARABOLIC_SMOOTHER_

#include <trajectory_msgs/JointTrajectory.h>
#include <trajectory_msgs/msg/joint_trajectory.hpp>
#include <moveit_msgs/msg/joint_limits.hpp>
#include <moveit_msgs/msg/robot_state.hpp>
#include <moveit/robot_trajectory/robot_trajectory.h>
#include "rclcpp/rclcpp.hpp"

namespace trajectory_processing
{
Expand Down
40 changes: 22 additions & 18 deletions moveit_core/trajectory_processing/src/iterative_spline_parameterization.cpp
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Expand Up @@ -44,6 +44,8 @@ static const double ALIMIT = 1.0; // default if not specified in model

namespace trajectory_processing
{
rclcpp::Logger LOGGER_ITERATIVE_SPLINE_PARAMETERIZATION = rclcpp::get_logger("moveit").get_child("trajectory_processing.iterative_spline_parameterization");

static void fit_cubic_spline(const int n, const double dt[], const double x[], double x1[], double x2[]);
static void adjust_two_positions(const int n, const double dt[], double x[], double x1[], double x2[],
const double x2_i, const double x2_f);
Expand Down Expand Up @@ -90,7 +92,7 @@ bool IterativeSplineParameterization::computeTimeStamps(robot_trajectory::RobotT
const robot_model::JointModelGroup* group = trajectory.getGroup();
if (!group)
{
ROS_ERROR_NAMED("trajectory_processing.iterative_spline_parameterization", "It looks like the planner did not set "
RCLCPP_ERROR(LOGGER_ITERATIVE_SPLINE_PARAMETERIZATION, "It looks like the planner did not set "
"the group the plan was computed for");
return false;
}
Expand All @@ -105,26 +107,28 @@ bool IterativeSplineParameterization::computeTimeStamps(robot_trajectory::RobotT
// Set scaling factors
if (max_velocity_scaling_factor > 0.0 && max_velocity_scaling_factor <= 1.0)
velocity_scaling_factor = max_velocity_scaling_factor;
else if (max_velocity_scaling_factor == 0.0)
ROS_DEBUG_NAMED("trajectory_processing.iterative_spline_parameterization",
else if (max_velocity_scaling_factor == 0.0){
RCLCPP_DEBUG(LOGGER_ITERATIVE_SPLINE_PARAMETERIZATION,
"A max_velocity_scaling_factor of 0.0 was specified, defaulting to %f instead.",
velocity_scaling_factor);
else
ROS_WARN_NAMED("trajectory_processing.iterative_spline_parameterization",
}
else{
RCLCPP_WARN(LOGGER_ITERATIVE_SPLINE_PARAMETERIZATION,
"Invalid max_velocity_scaling_factor %f specified, defaulting to %f instead.",
max_velocity_scaling_factor, velocity_scaling_factor);

}
if (max_acceleration_scaling_factor > 0.0 && max_acceleration_scaling_factor <= 1.0)
acceleration_scaling_factor = max_acceleration_scaling_factor;
else if (max_acceleration_scaling_factor == 0.0)
ROS_DEBUG_NAMED("trajectory_processing.iterative_spline_parameterization",
else if (max_acceleration_scaling_factor == 0.0){
RCLCPP_DEBUG(LOGGER_ITERATIVE_SPLINE_PARAMETERIZATION,
"A max_acceleration_scaling_factor of 0.0 was specified, defaulting to %f instead.",
acceleration_scaling_factor);
else
ROS_WARN_NAMED("trajectory_processing.iterative_spline_parameterization",
}
else{
RCLCPP_WARN(LOGGER_ITERATIVE_SPLINE_PARAMETERIZATION,
"Invalid max_acceleration_scaling_factor %f specified, defaulting to %f instead.",
max_acceleration_scaling_factor, acceleration_scaling_factor);

}
// No wrapped angles.
trajectory.unwind();

Expand Down Expand Up @@ -225,15 +229,15 @@ bool IterativeSplineParameterization::computeTimeStamps(robot_trajectory::RobotT
// Error out if bounds don't make sense
if (t2[j].max_velocity_ <= 0.0 || t2[j].max_acceleration_ <= 0.0)
{
ROS_ERROR_NAMED("trajectory_processing.iterative_spline_parameterization",
RCLCPP_ERROR(LOGGER_ITERATIVE_SPLINE_PARAMETERIZATION,
"Joint %d max velocity %f and max acceleration %f must be greater than zero "
"or a solution won't be found.\n",
j, t2[j].max_velocity_, t2[j].max_acceleration_);
return false;
}
if (t2[j].min_velocity_ >= 0.0 || t2[j].min_acceleration_ >= 0.0)
{
ROS_ERROR_NAMED("trajectory_processing.iterative_spline_parameterization",
RCLCPP_ERROR(LOGGER_ITERATIVE_SPLINE_PARAMETERIZATION,
"Joint %d min velocity %f and min acceleration %f must be less than zero "
"or a solution won't be found.\n",
j, t2[j].min_velocity_, t2[j].min_acceleration_);
Expand All @@ -244,35 +248,35 @@ bool IterativeSplineParameterization::computeTimeStamps(robot_trajectory::RobotT
// Error check
if (num_points < 4)
{
ROS_ERROR_NAMED("trajectory_processing.iterative_spline_parameterization",
RCLCPP_ERROR(LOGGER_ITERATIVE_SPLINE_PARAMETERIZATION,
"number of waypoints %d, needs to be greater than 3.\n", num_points);
return false;
}
for (unsigned int j = 0; j < num_joints; j++)
{
if (t2[j].velocities_[0] > t2[j].max_velocity_ || t2[j].velocities_[0] < t2[j].min_velocity_)
{
ROS_ERROR_NAMED("trajectory_processing.iterative_spline_parameterization", "Initial velocity %f out of bounds\n",
RCLCPP_ERROR(LOGGER_ITERATIVE_SPLINE_PARAMETERIZATION, "Initial velocity %f out of bounds\n",
t2[j].velocities_[0]);
return false;
}
else if (t2[j].velocities_[num_points - 1] > t2[j].max_velocity_ ||
t2[j].velocities_[num_points - 1] < t2[j].min_velocity_)
{
ROS_ERROR_NAMED("trajectory_processing.iterative_spline_parameterization", "Final velocity %f out of bounds\n",
RCLCPP_ERROR(LOGGER_ITERATIVE_SPLINE_PARAMETERIZATION, "Final velocity %f out of bounds\n",
t2[j].velocities_[num_points - 1]);
return false;
}
else if (t2[j].accelerations_[0] > t2[j].max_acceleration_ || t2[j].accelerations_[0] < t2[j].min_acceleration_)
{
ROS_ERROR_NAMED("trajectory_processing.iterative_spline_parameterization",
RCLCPP_ERROR(LOGGER_ITERATIVE_SPLINE_PARAMETERIZATION,
"Initial acceleration %f out of bounds\n", t2[j].accelerations_[0]);
return false;
}
else if (t2[j].accelerations_[num_points - 1] > t2[j].max_acceleration_ ||
t2[j].accelerations_[num_points - 1] < t2[j].min_acceleration_)
{
ROS_ERROR_NAMED("trajectory_processing.iterative_spline_parameterization",
RCLCPP_ERROR(LOGGER_ITERATIVE_SPLINE_PARAMETERIZATION,
"Final acceleration %f out of bounds\n", t2[j].accelerations_[num_points - 1]);
return false;
}
Expand Down
48 changes: 26 additions & 22 deletions moveit_core/trajectory_processing/src/iterative_time_parameterization.cpp
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Expand Up @@ -44,6 +44,8 @@ static const double DEFAULT_VEL_MAX = 1.0;
static const double DEFAULT_ACCEL_MAX = 1.0;
static const double ROUNDING_THRESHOLD = 0.01;

rclcpp::Logger LOGGER_ITERATIVE_TIME_PARAMETERIZATION = rclcpp::get_logger("moveit").get_child("trajectory_processing.iterative_time_parameterization");

IterativeParabolicTimeParameterization::IterativeParabolicTimeParameterization(unsigned int max_iterations,
double max_time_change_per_it)
: max_iterations_(max_iterations), max_time_change_per_it_(max_time_change_per_it)
Expand All @@ -54,40 +56,40 @@ IterativeParabolicTimeParameterization::~IterativeParabolicTimeParameterization(

namespace
{
void printPoint(const trajectory_msgs::JointTrajectoryPoint& point, std::size_t i)
void printPoint(const trajectory_msgs::msg::JointTrajectoryPoint& point, std::size_t i)
{
ROS_DEBUG_NAMED("trajectory_processing.iterative_time_parameterization", " time [%zu]= %f", i,
point.time_from_start.toSec());
RCLCPP_DEBUG(LOGGER_ITERATIVE_TIME_PARAMETERIZATION, " time [%zu]= %f", i,
point.time_from_start.sec + point.time_from_start.nanosec/1e9);
if (point.positions.size() >= 7)
{
ROS_DEBUG_NAMED("trajectory_processing.iterative_time_parameterization", " pos_ [%zu]= %f %f %f %f %f %f %f", i,
RCLCPP_DEBUG(LOGGER_ITERATIVE_TIME_PARAMETERIZATION, " pos_ [%zu]= %f %f %f %f %f %f %f", i,
point.positions[0], point.positions[1], point.positions[2], point.positions[3], point.positions[4],
point.positions[5], point.positions[6]);
}
if (point.velocities.size() >= 7)
{
ROS_DEBUG_NAMED("trajectory_processing.iterative_time_parameterization", " vel_ [%zu]= %f %f %f %f %f %f %f", i,
RCLCPP_DEBUG(LOGGER_ITERATIVE_TIME_PARAMETERIZATION, " vel_ [%zu]= %f %f %f %f %f %f %f", i,
point.velocities[0], point.velocities[1], point.velocities[2], point.velocities[3],
point.velocities[4], point.velocities[5], point.velocities[6]);
}
if (point.accelerations.size() >= 7)
{
ROS_DEBUG_NAMED("trajectory_processing.iterative_time_parameterization", " acc_ [%zu]= %f %f %f %f %f %f %f", i,
RCLCPP_DEBUG(LOGGER_ITERATIVE_TIME_PARAMETERIZATION, " acc_ [%zu]= %f %f %f %f %f %f %f", i,
point.accelerations[0], point.accelerations[1], point.accelerations[2], point.accelerations[3],
point.accelerations[4], point.accelerations[5], point.accelerations[6]);
}
}

void printStats(const trajectory_msgs::JointTrajectory& trajectory, const std::vector<moveit_msgs::msg::JointLimits>& limits)
void printStats(const trajectory_msgs::msg::JointTrajectory& trajectory, const std::vector<moveit_msgs::msg::JointLimits>& limits)
{
ROS_DEBUG_NAMED("trajectory_processing.iterative_time_parameterization", "jointNames= %s %s %s %s %s %s %s",
RCLCPP_DEBUG(LOGGER_ITERATIVE_TIME_PARAMETERIZATION, "jointNames= %s %s %s %s %s %s %s",
limits[0].joint_name.c_str(), limits[1].joint_name.c_str(), limits[2].joint_name.c_str(),
limits[3].joint_name.c_str(), limits[4].joint_name.c_str(), limits[5].joint_name.c_str(),
limits[6].joint_name.c_str());
ROS_DEBUG_NAMED("trajectory_processing.iterative_time_parameterization", "maxVelocities= %f %f %f %f %f %f %f",
RCLCPP_DEBUG(LOGGER_ITERATIVE_TIME_PARAMETERIZATION, "maxVelocities= %f %f %f %f %f %f %f",
limits[0].max_velocity, limits[1].max_velocity, limits[2].max_velocity, limits[3].max_velocity,
limits[4].max_velocity, limits[5].max_velocity, limits[6].max_velocity);
ROS_DEBUG_NAMED("trajectory_processing.iterative_time_parameterization", "maxAccelerations= %f %f %f %f %f %f %f",
RCLCPP_DEBUG(LOGGER_ITERATIVE_TIME_PARAMETERIZATION, "maxAccelerations= %f %f %f %f %f %f %f",
limits[0].max_acceleration, limits[1].max_acceleration, limits[2].max_acceleration,
limits[3].max_acceleration, limits[4].max_acceleration, limits[5].max_acceleration,
limits[6].max_acceleration);
Expand All @@ -112,15 +114,16 @@ void IterativeParabolicTimeParameterization::applyVelocityConstraints(robot_traj

if (max_velocity_scaling_factor > 0.0 && max_velocity_scaling_factor <= 1.0)
velocity_scaling_factor = max_velocity_scaling_factor;
else if (max_velocity_scaling_factor == 0.0)
ROS_DEBUG_NAMED("trajectory_processing.iterative_time_parameterization",
else if (max_velocity_scaling_factor == 0.0){
RCLCPP_DEBUG(LOGGER_ITERATIVE_TIME_PARAMETERIZATION,
"A max_velocity_scaling_factor of 0.0 was specified, defaulting to %f instead.",
velocity_scaling_factor);
else
ROS_WARN_NAMED("trajectory_processing.iterative_time_parameterization",
}
else{
RCLCPP_WARN(LOGGER_ITERATIVE_TIME_PARAMETERIZATION,
"Invalid max_velocity_scaling_factor %f specified, defaulting to %f instead.",
max_velocity_scaling_factor, velocity_scaling_factor);

}
for (int i = 0; i < num_points - 1; ++i)
{
const robot_state::RobotStatePtr& curr_waypoint = rob_trajectory.getWayPointPtr(i);
Expand Down Expand Up @@ -328,15 +331,16 @@ void IterativeParabolicTimeParameterization::applyAccelerationConstraints(

if (max_acceleration_scaling_factor > 0.0 && max_acceleration_scaling_factor <= 1.0)
acceleration_scaling_factor = max_acceleration_scaling_factor;
else if (max_acceleration_scaling_factor == 0.0)
ROS_DEBUG_NAMED("trajectory_processing.iterative_time_parameterization",
else if (max_acceleration_scaling_factor == 0.0){
RCLCPP_DEBUG(LOGGER_ITERATIVE_TIME_PARAMETERIZATION,
"A max_acceleration_scaling_factor of 0.0 was specified, defaulting to %f instead.",
acceleration_scaling_factor);
else
ROS_WARN_NAMED("trajectory_processing.iterative_time_parameterization",
}
else{
RCLCPP_WARN(LOGGER_ITERATIVE_TIME_PARAMETERIZATION,
"Invalid max_acceleration_scaling_factor %f specified, defaulting to %f instead.",
max_acceleration_scaling_factor, acceleration_scaling_factor);

}
do
{
num_updates = 0;
Expand Down Expand Up @@ -452,7 +456,7 @@ void IterativeParabolicTimeParameterization::applyAccelerationConstraints(
backwards = !backwards;
}
}
// ROS_DEBUG_NAMED("trajectory_processing.iterative_time_parameterization", "applyAcceleration: num_updates=%i",
// RCLCPP_DEBUG(LOGGER_ITERATIVE_TIME_PARAMETERIZATION, "applyAcceleration: num_updates=%i",
// num_updates);
} while (num_updates > 0 && iteration < static_cast<int>(max_iterations_));
}
Expand All @@ -467,7 +471,7 @@ bool IterativeParabolicTimeParameterization::computeTimeStamps(robot_trajectory:
const robot_model::JointModelGroup* group = trajectory.getGroup();
if (!group)
{
ROS_ERROR_NAMED("trajectory_processing.iterative_time_parameterization", "It looks like the planner did not set "
RCLCPP_ERROR(LOGGER_ITERATIVE_TIME_PARAMETERIZATION, "It looks like the planner did not set "
"the group the plan was computed for");
return false;
}
Expand Down
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