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

STOMP Smoothing Adapter #78

Open
wants to merge 12 commits into
base: kinetic-devel
from

Conversation

Projects
None yet
4 participants
@raghavendersahdev
Copy link

raghavendersahdev commented Oct 9, 2018

Addition of tutorial for running STOMP Smoothing Adapter in MoveIt

This PR is work done by Raghavender Sahdev as a part of 2018 Google summer of code. As a part of this PR, STOMP Smoothing adapter correctly works. A new trajectory initialization method is included in the stomp_core code
@davetcoleman @mamoll

Checklist

  • addition of trajectory initialization method which takes a given initial trajectory in the MotionPlanResopse object in the solve method and uses it as the initial trajectory for the STOMP Motion planner
  • this PR is a joint work with the stomp_moveit version of the code as well as in PR#1081

@raghavendersahdev raghavendersahdev referenced this pull request Oct 9, 2018

Open

Stomp Smoothing Planning Request Adapter #1081

0 of 2 tasks complete
@gavanderhoorn

This comment has been minimized.

Copy link
Member

gavanderhoorn commented Oct 9, 2018

Something to consider: we're in the process of splitting out all the stomp related packages. Would it make sense to merge this PR in the new repository, or are there pressing reasons for doing it now, here?

0.1.0 (2017-03-14)
------------------
* Initial release
* Contributors: Jorge Nicho

This comment has been minimized.

@gavanderhoorn

gavanderhoorn Oct 9, 2018

Member

I'm not sure you can merge changelogs like this.

@raghavendersahdev

This comment has been minimized.

Copy link

raghavendersahdev commented Oct 9, 2018

Something to consider: we're in the process of splitting out all the stomp related packages. Would it make sense to merge this PR in the new repository, or are there pressing reasons for doing it now, here?

Hi @gavanderhoorn On June 29, 2018, I had opened a PR#965 which separated the stomp related moveit packages by merging stomp_moveit and stomp_plugins into one package and ported that into MoveIt repo (maybe that might be helpful for the porting part :-) ) And on July 16, 2018 I had opened a PR#76 in the ros-industrial/industrial_moveit repo for the porting of stomp_moveit repo into MoveIt (this might be helpful too).......

My recently opened new PR#1081 includes changes from PR#965 + the Stomp Smoothing Adapter code as well (note: PR#1081 supersedes PR#965).....

The idea behind this PR on adding a new trajectory initialization process is to have a STOMP smoothing planning request adapter work in the main MoveIt repo, so that STOMP can be used as an additional motion planner in a pipeline with other motion planners.... The tutorial on Planning Request Adapters has more information on this...So this PR would enable 2 motion planners to be used in a pipeline fashion, something like CHOMP+STOMP or OMPL+STOMP.....in both these cases STOMP is used as a post processing smoothing motion planner and the initial planner OMPL/CHOMP produces the initial trajectory.

side note relating to planning request adapters: A CHOMP Optimization planning request adapter also has an open approved PR#1012 for this. This enabled CHOMP to be used as an additional post-processing optimization motion planning algorithm which received an initial trajectory from another motion planner like OMPL, STOMP....So this enabled the behaviour => OMPL+CHOMP or STOMP+CHOMP

@davetcoleman and @mamoll might have additional thoughts on this.

@gavanderhoorn

This comment has been minimized.

Copy link
Member

gavanderhoorn commented Oct 9, 2018

Hi @gavanderhoorn On June 29, 2018, I had opened a PR#965 which separated the stomp related moveit packages by merging stomp_moveit and stomp_plugins into one package and ported that into MoveIt repo (maybe that might be helpful for the porting part :-) ) And on July 16, 2018 I had opened a PR#76 in the ros-industrial/industrial_moveit repo for the porting of stomp_moveit repo into MoveIt (this might be helpful too).......

I know about all those PRs, but unfortunately they didn't line-up with the plans for this repository or the stomp packages. So I don't believe we could merge those.

Removing stomp from this repository and including it in ros-planning/moveit is not going to happen -- or at least not in the recent future. After discussing this with the other MoveIt maintainers, me and @davetcoleman agreed that a separate repository will be created that will host the stomp packages. They will not be integrated.

@raghavendersahdev

This comment has been minimized.

Copy link

raghavendersahdev commented Oct 9, 2018

Thanks for clarifying this @gavanderhoorn , oops.... sorry I totally forgot this, my mistake .... Yes you are correct.. I think I should have opened this PR in a different repository instead of industrial moveit, again my bad..I forgot.

@gavanderhoorn

This comment has been minimized.

Copy link
Member

gavanderhoorn commented Oct 9, 2018

Yes you are correct.. I think I should have opened this PR in a different repository instead of industrial moveit

I'm confused: the "different repository" you link to is industrial_moveit again?

@raghavendersahdev

This comment has been minimized.

Copy link

raghavendersahdev commented Oct 9, 2018

Due to lack of my knowledge in this issue, before proceeding any further, I will have to ask @davetcoleman about which separate moveit repository is the one that I should be using for the STOMP smoothing adapter .... You can close this PR for now... thanks for the info 👍

I won't be using the ros-industrial/industrial_moveit repository because I am myself confused here now ....

@simonschmeisser

This comment has been minimized.

Copy link
Contributor

simonschmeisser commented Nov 6, 2018

@gavanderhoorn what is the current status or timeline for this repository reorganization?

@liuxin00738

This comment has been minimized.

Copy link

liuxin00738 commented Dec 15, 2018

@raghavendersahdev Hi, is this eventually merged? Is there a way that I can use the stomp smoothing adapter? I saw it is in moveit tutorial for kinetic, but could not find where this adapter is defined, and could not find the corresponding plugin definition. When I follow the tutorial, it failed to find the plugin. The chomp plugin works.

@raghavendersahdev

This comment has been minimized.

Copy link

raghavendersahdev commented Dec 15, 2018

@liuxin00738 actually this is still pending to be merged, depending on when ros-industrial organization decides to release stomp core library separately (excluding stomp_moveit package). Meanwhile if you fork my branch of STOMP_Smoothing_adapter you should be able to follow the tutorials and run it.. and for moveit the code is available in my fork in the branchSTOMP_SmoothingAdapter...
The following 2 PRs are still yet to be merged to have this functionality of STOMP Smoothing adapter available... PR1_moveit and PR2_industrial_moveit

Note: my moveit fork / branch is not yet updated/synced with the latest moveit code; I can do that whenever someone from ros-industrial tells me that stomp core package can be made available, as it depends on stomp_core package....

@liuxin00738

This comment has been minimized.

Copy link

liuxin00738 commented Dec 15, 2018

@raghavendersahdev

This comment has been minimized.

Copy link

raghavendersahdev commented Dec 16, 2018

The stomp smoothing adapter is present here

Sign up for free to join this conversation on GitHub. Already have an account? Sign in to comment