tool to generate constraint approximation databases #1253
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The flags are never checked anyway below, so it does not build without OpenMP at the moment.
rhaschke
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Dec 11, 2018
moveit_core/kinematic_constraints/include/moveit/kinematic_constraints/utils.h
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I plan to extend the constraint manifold tutorial once I got an approval on the current design. I'm not sure where to document the structure for the Thanks for the feedback, I will address it later this week. |
mlautman
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Dec 13, 2018
mlautman
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moveit_planners/ompl/ompl_interface/src/generate_state_database.cpp
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moveit_planners/ompl/ompl_interface/src/generate_state_database.cpp
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rhaschke
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Dec 17, 2018
rhaschke
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rhaschke
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Dec 19, 2018
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@v4hn Do you want to squash the cleanup commits into the first 4 commits? |
mlautman
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Dec 19, 2018
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I will clean up the commit history and merge. |
In some situations, it makes sense to define Constraints
via ros parameters to ease configuration or circumvent
repeated definitions.
A constraint can constructed from ROS parameters with the following
structure:
path_constraint:
name: tool0_upright
constraints:
- type: orientation
frame_id: world
link_name: tool0
orientation: [0, 0, 0]
tolerances: [0.01, 0.01, 3.15]
weight: 1.0
- type: joint
joint_name: pan_joint
position: 0.0
tolerance: 1.0
weight: 1.0
- type: position
frame_id: world
link_name: tool0
target_offset: [.5,0,1.0]
region:
x: [0,2]
y: [-2,2]
z: [.5,2.5]
Previously, we only shipped a demo_construct_state_database.cpp
that hard-coded all parameters for a specific setup.
This work generalizes the code and provides a utility that
can be configured via ROS parameters.
Assuming a MoveIt configuration is running,
an example launch file to use the utility might look like this:
<launch>
<node name="generate_state_database" pkg="moveit_planners_ompl" type="generate_state_database" output="screen">
<param name="use_current_scene" value="false"/>
<param name="planning_group" value="arm"/>
<remap from="~output_folder" to="move_group/constraint_approximations_path"/>
<rosparam ns="constraints">
path_constraint:
name: tool0_upright
constraints:
- type: orientation
frame_id: world
link_name: tool0
orientation: [0, 0, 0]
tolerances: [0.01, 0.01, 3.15]
weight: 1.0
</rosparam>
</node>
</launch>
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merged I'll try to get around to add the tutorial soon. |
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This feature was on my todo list for quite some time now.
MoveIt provides some C++ demo code to generate constraint approximations.
These can be used for constraint path planning.
The demo is all hard-coded though and users had to copy&paste the code for their own use case.
This pull-request provides a way to describe constraints on the parameter server and applies the feature to configure a generic tool to generate the databases.
I'm open to change & move parts of this code if someone has a better proposal for where things should go.
Please look at the individual commits for more details.