New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

For porting STOMP into moveIt and removing industrial_collision_detection package #76

Closed
wants to merge 4 commits into
base: kinetic-devel
from

Conversation

Projects
None yet
4 participants
@raghavendersahdev
Copy link

raghavendersahdev commented Jul 16, 2018

This PR addresses the following:

  • removed the industrial_collision_detection package as that is already a part of MoveIt.
  • ignored the constraint_ik and industrial_moveit_benchmarking package as currently industrial_moveit does not build successfully when these packages are present.
  • removed the stomp_moveit and stomp_plugin packages as they could be put in the moveIt planners alongside other moveit planners like CHOMP, OMPL, SBPL.

Advantages of having STOMP as a part of MoveIt:

  • All planners at one place: It would be great to have multiple planners available in moveIt so users have a variety of motion planners (CHOMP, OMPL, STOMP, SBPL) to choose from.
  • Bug Fixing: easier to fix bugs if MoveIt API changes.
  • moveit dependent code in moveit: only stomp_moveit and stomp_plugin have been merged and moved to moveIt as these have a lot of dependency on moveIt code, the core STOMP code (stomp_core package) is still available in ros-industrial
  • standardized benchmarking for all planners: some benchmarks can be programmed for moveIt planners using which users can validate different motion planners available in moveIt and decide which planners works best in a particular environment as there is no one standard planner that works in all types of environments.
  • STOMP MoveIt tutorial: there is also a STOMP moveit tutorial here.
    @davetcoleman @mamoll
    Looking forward for some feedback from ros-industrial
@mamoll

This comment has been minimized.

Copy link

mamoll commented Jul 16, 2018

@raghavendersahdev has done this work as part of his 2018 Google Summer of Code project, mentored by Dave Coleman and myself. Hopefully, ROS-Industrial can continue development and maintenance of the ROS-independent STOMP core library. I assume this is still used within Tesseract? As Raghavender mentions, this PR is part of an effort to add the MoveIt-dependent part of STOMP into the Moveit repository, so that it can become a "first-class citizen": easily available for any MoveIt user and integrated into tutorials, examples, benchmarks, etc.

@davetcoleman

This comment has been minimized.

Copy link
Collaborator

davetcoleman commented Jul 18, 2018

Thanks for this PR @raghavendersahdev

Concerning:

ignored the constraint_ik and industrial_moveit_benchmarking package as currently industrial_moveit does not build successfully when these packages are present.

Can you document you temporarily disabled this near the top of this repo's README.md file?

@Levi-Armstrong et al I would recommend we then rename this repo stomp, stomp_planner or something similar.

@raghavendersahdev raghavendersahdev force-pushed the raghavendersahdev:kinetic-devel branch from 9c62ad5 to 652545a Jul 18, 2018

@raghavendersahdev

This comment has been minimized.

Copy link

raghavendersahdev commented Jul 18, 2018

sure @davetcoleman I have documented the temporary disabled behavior of the unused packages in the README.md file.

@jrgnicho jrgnicho self-requested a review Aug 24, 2018

@jrgnicho jrgnicho self-assigned this Aug 24, 2018

@jrgnicho

This comment has been minimized.

Copy link
Member

jrgnicho commented Aug 24, 2018

@raghavendersahdev thanks for your contribution, I'll make time to review your PR next week.

@jrgnicho

This comment has been minimized.

Copy link
Member

jrgnicho commented Sep 17, 2018

Replaced by #77

@jrgnicho jrgnicho closed this Sep 17, 2018

@raghavendersahdev raghavendersahdev referenced this pull request Oct 9, 2018

Open

STOMP Smoothing Adapter #78

0 of 2 tasks complete
Sign up for free to join this conversation on GitHub. Already have an account? Sign in to comment