hot fix #1012 #1086

rhaschke · 2018-10-15T09:02:50Z

Unfortunately, #1012 was merged while still containing severe issues:

new PlanningScene methods were added to circumvent constness
group name was hard-coded
package dependency was missing

@davetcoleman or @bmagyar Please review and merge asap, as kinetic-devel is broken.

…nners (#1012) * added funcitonality for CHOMP Optimization Adapter and made some changes in planning_scene.h / .cpp files to make this work * added comments and cleaned up some code * added funcitonality for optimizing path obtained from OMPL, underconstruction but works fine right now * did some commenting and cleaning up of code * cleaned up some code and added comments * corrected my previous public/private small bug in planning_scene.h * changed CHOMP Parameter name to make more sense trajectory_initialization_method * added functionality to initialize trajectories in CHOMP when input trajectory has more points than CHOMP trajectory points * changed author for chomp_optimizer_adapter.cpp * addressed Dave's PR requested changes * addressed PR requested changes added a new helper function to make chomp_initialization from trajectory simpler, now has if, for, for * changed OMPL to fillTrajectory as the parameter value * just a dot * added chomp_motion_planner dependency in moveit_ros_planning

rhaschke · 2018-10-15T13:12:54Z

@raghavendersahdev, please could you have a look too?

davetcoleman

Thanks for fixing the planning scene!

davetcoleman · 2018-10-15T17:59:59Z

moveit_ros/planning/package.xml

@@ -34,6 +35,7 @@
  <run_depend>dynamic_reconfigure</run_depend>
  <run_depend>angles</run_depend>
  <run_depend>eigen_conversions</run_depend>
+  <run_depend>chomp_motion_planner</run_depend>


is this necessary? it will require that we start releasing chomp as debians @130s

The original PR was aiming for that, we may just as well allow releasing. The version numbers within the CHOMP packages will need to be updated to the rest of the stack.

The chomp_motion_planner is part of MoveIt anyway, isn't it?moveit_planners/chomp/chomp_motion_planner

its always been more experimental and has never been released, but sure, let's release it :)

Following this up in ros-gbp/moveit-release#5

moveit_ros/planning/planning_request_adapter_plugins/CMakeLists.txt

moveit_ros/planning/planning_request_adapter_plugins/src/chomp_optimizer_adapter.cpp

bmagyar · 2018-10-15T20:26:22Z

moveit_ros/planning/planning_request_adapter_plugins/src/chomp_optimizer_adapter.cpp

                            const planning_interface::MotionPlanRequest& req,
                            planning_interface::MotionPlanResponse& res,
                            std::vector<std::size_t>& added_path_index) const
  {
    // following call to planner() calls the OMPL planner and stores the trajectory inside the MotionPlanResponse res
    // variable which is then used by CHOMP for optimization of the computed trajectory
-    bool solved = planner(planning_scene, req, res);
+    bool solved = planner(ps, req, res);


This could be const just as planning_success.

I'm also wondering if this function should return solved && planning_success?

This could be const just as planning_success.

???

I'm also wondering if this function should return solved && planning_success?

Feel free to modify the return value.

I was returning only solved so that in case CHOMP is not able to find a path, the planner still returns the OMPL's computed path and returns true, if we return the value as solved && planning_success this would imply both CHOMP (with OMPL's / STOMP's initial guess) and the initial planner (e.g., OMPL/STOMP) need to produce a correct path.. In most cases (almost all cases) with OMPL's / STOMP's initial guess CHOMP produces a collision free path.. so yes doing solved && planning_success might make sense here ..

On the other hand, In case if planning_scene == false May be just a message using ROS_INFO could be used if required to indicate to the user that CHOMP adapter failed so only using OMPL's path to compute the solution .... I have no strong preference for this change here, what ever you feel is good can be done here....

However, I am a bit inclined with displaying the user with a message that CHOMP failed and Initial planner succeeded so using only one planner and discarding CHOMP adapter's usage..

moveit_ros/planning/planning_request_adapter_plugins/CMakeLists.txt

bmagyar · 2018-10-15T20:29:44Z

Thanks @rhaschke for fixing this up!

…nners (moveit#1012) * added functionality for CHOMP Optimization Adapter and made some changes in planning_scene.h / .cpp files to make this work * added functionality for optimizing path obtained from OMPL, under construction but works fine right now * added functionality to initialize trajectories in CHOMP when input trajectory has more points than CHOMP trajectory points * hotfix moveit#1086

raghavendersahdev · 2018-10-17T11:38:16Z

Thanks @rhaschke and sorry for getting to this late, I was held up with some other work, I just tested your changes, it works fine and is better than my way 👍

Small side note: I am not very well versed with Travis, but I see here this PR #1086 first built successfully (#2696) and a second later instance of it (#2697) error'ed, not sure why... maybe #2696 is a later instance than #2697 not sure....I might be wrong here.. just mentioning...

…ent)) Hopefully this fixes the issue during bloom moveit/moveit#1083 (comment) As far as `chomp` goes, I'm not sure if we still ignore `moveit_planners_chomp`. Looks like it's not depended from `package.xml`, so it might be ok. ``` $ git log -1 kinetic-devel commit 2903081c904602ffeca8d71592688c93ca8adc90 Author: Isaac I.Y. Saito <130s@2000.jukuin.keio.ac.jp> Date: Wed Oct 24 04:23:04 2018 -0700 0.9.13 $ ack-grep -i moveit_planners_chomp . moveit_planners/chomp/chomp_interface/test/chomp_moveit.test 3: <include file="$(find moveit_planners_chomp)/test/rrbot_move_group.launch"/> 5: <test test-name="chomp_test" pkg="moveit_planners_chomp" type="chomp_moveit_test" time-limit="80.0"/> moveit_planners/chomp/chomp_interface/test/rrbot_chomp_planning_pipeline.launch.xml 12: <rosparam command="load" file="$(find moveit_planners_chomp)/test/chomp_planning.yaml"/> moveit_planners/chomp/chomp_interface/test/rrbot_move_group.launch 9: <param name="$(arg robot_description)" command="$(find xacro)/xacro --inorder '$(find moveit_planners_chomp)/test/rrbot.xacro'"/> 12: <param name="$(arg robot_description)_semantic" textfile="$(find moveit_planners_chomp)/test/rrbot.srdf" /> 16: <rosparam command="load" file="$(find moveit_planners_chomp)/test/joint_limits.yaml"/> 35: <include file="$(find moveit_planners_chomp)/test/rrbot_chomp_planning_pipeline.launch.xml" /> 46: <!--include file="$(find moveit_planners_chomp)/test/moveit_rviz.launch"> moveit_planners/chomp/chomp_interface/CMakeLists.txt 2:project(moveit_planners_chomp) moveit_planners/chomp/chomp_interface/package.xml 2: <name>moveit_planners_chomp</name> ```

…moveit#1086 (comment)) Hopefully this fixes the issue during bloom moveit/moveit#1083 (comment) As far as `chomp` goes, I'm not sure if we still ignore `moveit_planners_chomp`. Looks like it's not depended from `package.xml`, so it might be ok. ``` $ git log -1 kinetic-devel commit 2903081c904602ffeca8d71592688c93ca8adc90 Author: Isaac I.Y. Saito <130s@2000.jukuin.keio.ac.jp> Date: Wed Oct 24 04:23:04 2018 -0700 0.9.13 $ ack-grep -i moveit_planners_chomp . moveit_planners/chomp/chomp_interface/test/chomp_moveit.test 3: <include file="$(find moveit_planners_chomp)/test/rrbot_move_group.launch"/> 5: <test test-name="chomp_test" pkg="moveit_planners_chomp" type="chomp_moveit_test" time-limit="80.0"/> moveit_planners/chomp/chomp_interface/test/rrbot_chomp_planning_pipeline.launch.xml 12: <rosparam command="load" file="$(find moveit_planners_chomp)/test/chomp_planning.yaml"/> moveit_planners/chomp/chomp_interface/test/rrbot_move_group.launch 9: <param name="$(arg robot_description)" command="$(find xacro)/xacro --inorder '$(find moveit_planners_chomp)/test/rrbot.xacro'"/> 12: <param name="$(arg robot_description)_semantic" textfile="$(find moveit_planners_chomp)/test/rrbot.srdf" /> 16: <rosparam command="load" file="$(find moveit_planners_chomp)/test/joint_limits.yaml"/> 35: <include file="$(find moveit_planners_chomp)/test/rrbot_chomp_planning_pipeline.launch.xml" /> 46: <!--include file="$(find moveit_planners_chomp)/test/moveit_rviz.launch"> moveit_planners/chomp/chomp_interface/CMakeLists.txt 2:project(moveit_planners_chomp) moveit_planners/chomp/chomp_interface/package.xml 2: <name>moveit_planners_chomp</name> ```

rhaschke mentioned this pull request Oct 15, 2018

Addition of CHOMP planning adapter for optimizing result of other planners #1012

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davetcoleman reviewed Oct 15, 2018

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bmagyar reviewed Oct 15, 2018

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davetcoleman approved these changes Oct 17, 2018

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rhaschke added 4 commits October 17, 2018 10:31

add missing package dependency

b258366

fix formatting

92dc01a

revert changes to PlanningScene

784942f

remove hard-coded group name

e7d4cf8

rhaschke force-pushed the hotfix-#1012 branch from afe7bdb to e7d4cf8 Compare October 17, 2018 08:32

rhaschke merged commit f85f672 into moveit:kinetic-devel Oct 17, 2018

rhaschke deleted the hotfix-#1012 branch October 17, 2018 08:45

130s mentioned this pull request Oct 24, 2018

chomp_motion_planner binary not found #1125

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130s mentioned this pull request Oct 24, 2018

Release chomp in Kinetic ros-gbp/moveit-release#5

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hot fix #1012 #1086

hot fix #1012 #1086

rhaschke commented Oct 15, 2018

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raghavendersahdev commented Oct 17, 2018

hot fix #1012 #1086

hot fix #1012 #1086

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