Pilz Sequence Motion MoveGroupSequence example #917

alejomancinelli · 2024-07-02T13:08:06Z

MoveGroupSequence example for generating a sequence of trajectories with a blend radius.

pilz_moveit.launch.py replaces mtc_demo.launch.py since it needs to include the action server and service server capabilities.
pilz_sequence.cpp plans and shows a trajectory using the MoveGroupSequence service, then plans and executes the trajectory using the MoveGroupSequence action. Finally, it executes the same sequence, but stops the motion after 2 seconds.

@sea-bass

sea-bass

Very cool to see! A few initial suggestions

Make sure you don't commit the .vscode folder that your IDE may create
Can you instead rebase this and put up the PR to the main branch instead of humble? That's where development happens.
Also, make sure you modify the actual docs page to add instructions for your great new example!

Try making those changes and I'll do a more thorough review/test after.

doc/examples/pilz_industrial_motion_planner/src/pilz_sequence.cpp

alejomancinelli · 2024-07-02T13:40:52Z

Very cool to see! A few initial suggestions

1. Make sure you don't commit the .vscode folder that your IDE may create

2. Can you instead rebase this and put up the PR to the `main` branch instead of humble? That's where development happens.

3. Also, make sure you modify the actual docs page to add instructions for your great new example!

Try making those changes and I'll do a more thorough review/test after.

Sure, I will do those changes. Thanks for the reply!

sea-bass

Gave a more thorough look and tested it -- looks great!

Two major comments:

I think calling and waiting for the service and action results may be done incorrectly, as future.get() does not block. You should do something like what is shown in this ROS 2 tutorial and this example for actions -- I suspect this is why the execution fails, I even got a segfault!
The docs show the action interface and then the service interface first, but the example does service and then action. I recommend shuffling the docs to also do first service and then action.

BTW were you getting these errors?

[ros2_control_node-5] [ERROR] [1719959728.962806900] [panda_arm_controller]:
Time between points 27 and 28 is not strictly increasing, it is 2.700000 and 2.700000 respectively

doc/how_to_guides/pilz_industrial_motion_planner/pilz_industrial_motion_planner.rst

doc/how_to_guides/pilz_industrial_motion_planner/launch/pilz_moveit.launch.py

sea-bass · 2024-07-02T22:01:59Z

doc/how_to_guides/pilz_industrial_motion_planner/pilz_industrial_motion_planner.rst

+       "capabilities": "pilz_industrial_motion_planner/MoveGroupSequenceAction pilz_industrial_motion_planner/MoveGroupSequenceService"
+    }
+
+The sequence script creates 2 targets poses that will be reach sequentially.


Suggested change

The sequence script creates 2 targets poses that will be reach sequentially.

The `pilz_sequence.cpp file` creates 2 target poses that will be reached sequentially.

... and see if you can directly link to the source code with the :codedir: directive.

doc/how_to_guides/pilz_industrial_motion_planner/pilz_industrial_motion_planner.rst

doc/how_to_guides/pilz_industrial_motion_planner/src/pilz_sequence.cpp

doc/how_to_guides/pilz_industrial_motion_planner/launch/pilz_moveit.launch.py

sea-bass · 2024-07-02T22:25:39Z

doc/how_to_guides/pilz_industrial_motion_planner/src/pilz_sequence.cpp

+  // Get result
+  auto future_result = client->async_get_result(goal_handle_future.get());
+
+  // Wait for the result
+  if (future_result.valid()) {
+    auto result = future_result.get();  // Blocks the program execution until it gets a response


same here, this needs to wait for the action to complete. You can use the same "loop and check if complete" paradigm from the service example, or just spin this node until the action is complete:

https://github.com/ros2/examples/blob/rolling/rclcpp/actions/minimal_action_client/not_composable.cpp#L44

doc/how_to_guides/pilz_industrial_motion_planner/src/pilz_sequence.cpp

Co-authored-by: Sebastian Castro <4603398+sea-bass@users.noreply.github.com>

alejomancinelli · 2024-07-03T18:23:53Z

Gave a more thorough look and tested it -- looks great!

Two major comments:

1. I think calling and waiting for the service and action results may be done incorrectly, as `future.get()` does not block. You should do something like what is shown in [this ROS 2 tutorial](https://docs.ros.org/en/humble/Tutorials/Beginner-Client-Libraries/Writing-A-Simple-Cpp-Service-And-Client.html#write-the-client-node) and [this example for actions](https://github.com/ros2/examples/blob/rolling/rclcpp/actions/minimal_action_client/not_composable.cpp#L44) -- I suspect this is why the execution fails, I even got a segfault!

2. The docs show the action interface and then the service interface first, but the example does service and then action. I recommend shuffling the docs to also do first service and then action.

BTW were you getting these errors?

[ros2_control_node-5] [ERROR] [1719959728.962806900] [panda_arm_controller]:
Time between points 27 and 28 is not strictly increasing, it is 2.700000 and 2.700000 respectively

Nop, I didn´t get any errors. Did you changed or added points in the trajectory? I could try to replicate it.

For (2) I think you are right, I already change the order in the tutorial.

One last thing: after doing the main rebase, I'm getting error in others examples that I didn´t modify, so I can´t compile the package. Do you know how to solve this?

sea-bass · 2024-07-03T22:06:13Z

It's possible that my trajectory errors show up because I am testing on rolling, not Humble.

Similarly, versions of packages could be causing compilation errors on your end. What are you seeing?

EDIT: BTW I also tried running the regular pilz_move_group executable on my Rolling / Ubuntu 24.04 setup, and the example works... so I've ruled that out. Try fixing up those waits for the servers' futures?

alejomancinelli · 2024-07-08T11:56:26Z

I have changed the server's future. Now it waits with a while loop and future.wait_for() unitil it is ready. I still have to update the tutorial, let me know if the changes are ok to do so.

One last thing: after doing the main rebase, I'm getting error in others examples that I didn´t modify, so I can´t compile the package. Do you know how to solve this?

These are some of the issues I have when compiling the package

user@Lenovo:~/ROS2/moveit_fork_ws$ colcon build --packages-select moveit2_tutorials
Starting >>> moveit2_tutorials
[Processing: moveit2_tutorials]                             
--- stderr: moveit2_tutorials                               
moveit2_tutorials: You did not request a specific build type: Choosing 'Release' for maximum performance
/home/user/ROS2/moveit_fork_ws/src/moveit2_tutorials/doc/examples/realtime_servo/src/pose_tracking_tutorial.cpp:49:10: fatal error: moveit_servo/utils/common.hpp: No such file or directory
   49 | #include <moveit_servo/utils/common.hpp>
      |          ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
compilation terminated.
gmake[2]: *** [doc/examples/realtime_servo/CMakeFiles/pose_tracking_tutorial.dir/build.make:76: doc/examples/realtime_servo/CMakeFiles/pose_tracking_tutorial.dir/src/pose_tracking_tutorial.cpp.o] Error 1
gmake[1]: *** [CMakeFiles/Makefile2:736: doc/examples/realtime_servo/CMakeFiles/pose_tracking_tutorial.dir/all] Error 2
gmake[1]: *** Waiting for unfinished jobs....
/home/user/ROS2/moveit_fork_ws/src/moveit2_tutorials/doc/examples/move_group_interface/src/move_group_interface_tutorial.cpp: In function ‘int main(int, char**)’:
/home/user/ROS2/moveit_fork_ws/src/moveit2_tutorials/doc/examples/move_group_interface/src/move_group_interface_tutorial.cpp:156:46: error: ‘struct moveit::planning_interface::MoveGroupInterface::Plan’ has no member named ‘trajectory’; did you mean ‘trajectory_’?
  156 |   visual_tools.publishTrajectoryLine(my_plan.trajectory, joint_model_group);
      |                                              ^~~~~~~~~~
      |                                              trajectory_
/home/user/ROS2/moveit_fork_ws/src/moveit2_tutorials/doc/examples/move_group_interface/src/move_group_interface_tutorial.cpp:209:46: error: ‘struct moveit::planning_interface::MoveGroupInterface::Plan’ has no member named ‘trajectory’; did you mean ‘trajectory_’?
  209 |   visual_tools.publishTrajectoryLine(my_plan.trajectory, joint_model_group);
      |                                              ^~~~~~~~~~
      |                                              trajectory_
/home/user/ROS2/moveit_fork_ws/src/moveit2_tutorials/doc/examples/move_group_interface/src/move_group_interface_tutorial.cpp:278:46: error: ‘struct moveit::planning_interface::MoveGroupInterface::Plan’ has no member named ‘trajectory’; did you mean ‘trajectory_’?
  278 |   visual_tools.publishTrajectoryLine(my_plan.trajectory, joint_model_group);
      |                                              ^~~~~~~~~~
      |                                              trajectory_
/home/user/ROS2/moveit_fork_ws/src/moveit2_tutorials/doc/examples/move_group_interface/src/move_group_interface_tutorial.cpp:354:46: error: ‘struct moveit::planning_interface::MoveGroupInterface::Plan’ has no member named ‘trajectory’; did you mean ‘trajectory_’?
  354 |   visual_tools.publishTrajectoryLine(my_plan.trajectory, joint_model_group);
      |                                              ^~~~~~~~~~
      |                                              trajectory_
/home/user/ROS2/moveit_fork_ws/src/moveit2_tutorials/doc/examples/move_group_interface/src/move_group_interface_tutorial.cpp:406:46: error: ‘struct moveit::planning_interface::MoveGroupInterface::Plan’ has no member named ‘trajectory’; did you mean ‘trajectory_’?
  406 |   visual_tools.publishTrajectoryLine(my_plan.trajectory, joint_model_group);
      |                                              ^~~~~~~~~~
      |                                              trajectory_
/home/user/ROS2/moveit_fork_ws/src/moveit2_tutorials/doc/examples/move_group_interface/src/move_group_interface_tutorial.cpp:461:46: error: ‘struct moveit::planning_interface::MoveGroupInterface::Plan’ has no member named ‘trajectory’; did you mean ‘trajectory_’?
  461 |   visual_tools.publishTrajectoryLine(my_plan.trajectory, joint_model_group);
      |                                              ^~~~~~~~~~
      |                                              trajectory_
/home/user/ROS2/moveit_fork_ws/src/moveit2_tutorials/doc/examples/motion_planning_api/src/motion_planning_api_tutorial.cpp: In function ‘int main(int, char**)’:
/home/user/ROS2/moveit_fork_ws/src/moveit2_tutorials/doc/examples/motion_planning_api/src/motion_planning_api_tutorial.cpp:207:69: error: ‘struct planning_interface::MotionPlanResponse’ has no member named ‘error_code’; did you mean ‘error_code_’?
  207 |       planner_instance->getPlanningContext(planning_scene, req, res.error_code);
      |                                                                     ^~~~~~~~~~
      |                                                                     error_code_

I'm using ROS2 Humble on Ubuntu 22.04

sea-bass · 2024-07-08T12:00:32Z

That's an incompatibility between Humble and main. Are you also now using the main branch of moveit2 repo?

Also make sure you have uninstalled any other moveit packages from binaries: sudo apt-get remove ros-humble-moveit*

alejomancinelli · 2024-07-08T18:58:12Z

No, my bad , I was still using the humble branch. Nevertheless, I couldn't install the main branch since I get some errors using the Humble distro. I've seen some people with the same issues, like the last comment in this issue or this issue.

Before I keep trying, do you know if this is possible? I'm following the installation steps.

sea-bass · 2024-07-08T23:15:24Z

I'm actually not sure if the main branch of MoveIt works on Humble anymore. You can try by ensuring you have removed all your MoveIt binaries and following the source instructions in a clean build.

sea-bass · 2024-07-31T03:19:44Z

@alejomancinelli is this ready for review again, or are you still working on it? If it is ready, re-request and I will test it out again.

alejomancinelli · 2024-07-31T14:56:07Z

Hello @sea-bass. Yes, sorry, I think is ready. I didn't know I had to do a re-request. I will merge with main and do it.

sea-bass

Thank you for the great work!

So, everything seems to work on your end, given the screenshots, but on rolling / main I get an error with the controller:

[ros2_control_node-5] [ERROR] [1722470751.608592463] [panda_arm_controller]: 
Time between points 27 and 28 is not strictly increasing, it is 2.700000 and 2.700000 respectively

Part of me wants to just accept this and then raise an issue on the MoveIt repo to try resolve this on the Pilz motion planner side. (EDIT: This is already an issue moveit/moveit2#2741)

So I'm tagging @sjahr, @stephanie-eng, and @henningkayser to see what they think.

But barring some very minor comments, LGTM.

doc/how_to_guides/pilz_industrial_motion_planner/pilz_industrial_motion_planner.rst

sea-bass · 2024-08-01T01:11:46Z

doc/how_to_guides/pilz_industrial_motion_planner/pilz_industrial_motion_planner.rst

+    service_request->request.items.push_back(item1);
+    service_request->request.items.push_back(item2);
+
+Service call and response. The method ``future.wait_for(timeout_duration)`` waits for the


This "Service call and response" is not a full sentence, could you reword?

I changed the whole sentence to "Once the service call is completed, the method future.wait_for(timeout_duration) blocks until a specified timeout_duration has elapsed or the result becomes available, whichever comes first. The return value identifies the state of the result. This is performed every second until the future is ready."

sea-bass · 2024-08-01T01:11:57Z

doc/how_to_guides/pilz_industrial_motion_planner/pilz_industrial_motion_planner.rst

+Service call and response. The method ``future.wait_for(timeout_duration)`` waits for the
+result to become available. Blocks until specified ``timeout_duration`` has elapsed or the
+result becomes available, whichever comes first. The return value identifies the state of
+the result. This is perform every 1 seconds until the future is ready.


Suggested change

the result. This is perform every 1 seconds until the future is ready.

the result. This is performed every 1 second until the future is ready.

Suggested change

the result. This is perform every 1 seconds until the future is ready.

the result. This is perform every second until the future is ready.

Nitpick again, apologies! Every one second is a bit awkward sounding, in my opinion. Consider "Once a second", "Every second".

sea-bass · 2024-08-01T01:12:33Z

doc/how_to_guides/pilz_industrial_motion_planner/pilz_industrial_motion_planner.rst

+    sequence_request.items.push_back(item1);
+    sequence_request.items.push_back(item2);
+
+Create goal and planning options. A goal response callback and result callback can be included as well.


Same here: "Create goal and planning options" isn't quite a full sentence, could you reword?

Something simple like "The goal and planning options are configured." ?

sea-bass · 2024-08-01T01:13:23Z

doc/how_to_guides/pilz_industrial_motion_planner/src/pilz_sequence.cpp

+    msg.pose.orientation.y = 0;
+    msg.pose.orientation.z = 0;
+    msg.pose.orientation.w = 0;
+    return msg;
+  }();
+  item1.req.goal_constraints.push_back(
+      kinematic_constraints::constructGoalConstraints("panda_link8", target_pose_item1));
+
+  // ----- Motion Sequence Item 2
+  // Create a MotionSequenceItem
+  moveit_msgs::msg::MotionSequenceItem item2;
+
+  // Set pose blend radius
+  // For the last pose, it must be 0!
+  item2.blend_radius = 0;


nit: For all these values, in this file and the docs, could you replace the 0 with 0.0?

And same with the 5 in the planning time.

sea-bass · 2024-08-01T01:14:06Z

doc/how_to_guides/pilz_industrial_motion_planner/src/pilz_sequence.cpp

+  // Planning options
+  goal_msg.planning_options.planning_scene_diff.is_diff = true;
+  goal_msg.planning_options.planning_scene_diff.robot_state.is_diff = true;
+  // goal_msg.planning_options.plan_only = true;


remove or uncomment?
(or leave a comment next to this saying users can change this to do only planning)

I added a "Uncomment to only plan the trajectory" comment since I think this option could be useful for someone

sea-bass · 2024-08-01T01:14:19Z

doc/how_to_guides/pilz_industrial_motion_planner/src/pilz_sequence.cpp

+  // Feedback callback
+  // It does not show the state of the sequence, but the state of the robot: PLANNING, MONITOR, IDLE
+  send_goal_options.feedback_callback = [](GoalHandleMoveGroupSequence::SharedPtr,
+                                           const std::shared_ptr<const GoalHandleMoveGroupSequence::Feedback> feedback) {
+    RCLCPP_INFO(LOGGER, "Feedback: %s", feedback->state.c_str());
+  };


Do we need a feedback callback?

Actually, no. I thought the feedbak would return the next point in the sequence during the execution, but since it only returns the state of the action is not really that usefull (at least not in this example)

sea-bass · 2024-08-01T02:36:50Z

Update: With moveit/moveit2#2943, I could get these tutorials to run correctly on Rolling / main!

stephanie-eng

Thank you for writing this! I have some minor wording suggestions, but the overall content is great!

@sea-bass I am unable to reproduce the issue you saw with the duplicated time points on rolling, but in my opinion, that is a MoveIt / Pilz issue and shouldn't block the addition of this tutorial.

doc/how_to_guides/pilz_industrial_motion_planner/pilz_industrial_motion_planner.rst

stephanie-eng · 2024-08-01T01:41:32Z

doc/how_to_guides/pilz_industrial_motion_planner/pilz_industrial_motion_planner.rst

+Service call and response. The method ``future.wait_for(timeout_duration)`` waits for the
+result to become available. Blocks until specified ``timeout_duration`` has elapsed or the
+result becomes available, whichever comes first. The return value identifies the state of
+the result. This is perform every 1 seconds until the future is ready.


Suggested change

the result. This is perform every 1 seconds until the future is ready.

the result. This is perform every second until the future is ready.

Nitpick again, apologies! Every one second is a bit awkward sounding, in my opinion. Consider "Once a second", "Every second".

doc/how_to_guides/pilz_industrial_motion_planner/pilz_industrial_motion_planner.rst

sea-bass · 2024-08-01T04:00:16Z

@sea-bass I am unable to reproduce the issue you saw with the duplicated time points on rolling, but in my opinion, that is a MoveIt / Pilz issue and shouldn't block the addition of this tutorial.

I'm on Ubuntu 24.04 -- are you as well? Anyway, I found a band-aid fix in moveit/moveit2#2943

stephanie-eng · 2024-08-01T16:37:24Z

I'm on 22.04 host but I run everything in the osrf/ros:rolling-desktop container which is 24.04, so should be similar.

Co-authored-by: Stephanie Eng <stephanie-eng@users.noreply.github.com> Co-authored-by: Sebastian Castro <4603398+sea-bass@users.noreply.github.com>

doc/how_to_guides/pilz_industrial_motion_planner/pilz_industrial_motion_planner.rst

sea-bass · 2024-08-01T21:46:16Z

@alejomancinelli thank you again for the awesome new tutorial! 🚀

gaspatxo · 2024-08-02T08:28:04Z

Hello @sea-bass , I found a way of uing the MoveGroupInterface to greatly simplify the process of creating the action requests. Is that of interest? If it is, I would be happy to create a new pull request with new tutorials and everything that is needed. Here is an example, please take a look at it.

However, at least with this example I have the issue #2909, which is non-critical unless precise constant veolicty control is required

sea-bass · 2024-08-02T11:23:23Z

@gaspatxo cool! If you have time, you should put up a PR modifying this existing tutorial with whatever improvements you like.

alejomancinelli · 2024-08-03T15:44:29Z

@alejomancinelli thank you again for the awesome new tutorial! 🚀

@sea-bass thank you and the team for all the feedback! I learn a lot with this.

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Deduplicate joint trajectory points in Pilz Move Group Sequence capability moveit/moveit2#2943

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Sequence Tutorial for Pilz Industrial Motion Planner #801

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Pilz Sequence Motion MoveGroupSequence example #917

Pilz Sequence Motion MoveGroupSequence example #917

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alejomancinelli commented Aug 3, 2024

	The sequence script creates 2 targets poses that will be reach sequentially.
	The `pilz_sequence.cpp file` creates 2 target poses that will be reached sequentially.

	the result. This is perform every 1 seconds until the future is ready.
	the result. This is performed every 1 second until the future is ready.

	the result. This is perform every 1 seconds until the future is ready.
	the result. This is perform every second until the future is ready.

Pilz Sequence Motion MoveGroupSequence example #917

Pilz Sequence Motion MoveGroupSequence example #917

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sea-bass commented Aug 1, 2024

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sea-bass commented Aug 1, 2024

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sea-bass commented Aug 1, 2024

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