Add new msa planners #2955

rickstaa · 2021-11-11T08:56:41Z

This pull request updates the MSA such that it:

Creates the config and launch files for the STOMP planner 97a8c5d.
Creates the config and launch files for the CHOMP-STOMP planning pipeline b28da2d.
Only uses required parameters in the CHOMP configuration 504d9fe.
Uses the right values for the CHOMP parameters 40f5b49.

It further also removes deprecated code from the CHOMP planner.

The output of the MSA can be found in this repository (Please NOTE that this config uses all the pull requests that are listed in moveit/panda_moveit_config#96).

codecov · 2021-11-11T11:12:14Z

Codecov Report

Merging #2955 (3612369) into master (fd36674) will increase coverage by 0.12%.
The diff coverage is 0.00%.

@@            Coverage Diff             @@
##           master    #2955      +/-   ##
==========================================
+ Coverage   61.55%   61.67%   +0.12%     
==========================================
  Files         370      374       +4     
  Lines       33145    33261     +116     
==========================================
+ Hits        20399    20509     +110     
- Misses      12746    12752       +6

Impacted Files	Coverage Δ
...ners/chomp/chomp_interface/src/chomp_interface.cpp	`93.34% <ø> (ø)`
...er/include/chomp_motion_planner/chomp_parameters.h	`100.00% <ø> (ø)`
...homp/chomp_motion_planner/src/chomp_parameters.cpp	`84.85% <ø> (ø)`
.../moveit/setup_assistant/tools/moveit_config_data.h	`44.45% <ø> (ø)`
...t_setup_assistant/src/tools/moveit_config_data.cpp	`13.93% <0.00%> (-1.46%)`	⬇️
...moveit/move_group_interface/move_group_interface.h	`36.85% <0.00%> (-9.58%)`	⬇️
...t_ros/robot_interaction/src/locked_robot_state.cpp	`96.88% <0.00%> (-3.12%)`	⬇️
moveit_core/robot_state/src/robot_state.cpp	`52.36% <0.00%> (-0.19%)`	⬇️
.../move_group_interface/src/move_group_interface.cpp	`47.66% <0.00%> (-0.04%)`	⬇️
...it/collision_detection/test_collision_common_pr2.h	`98.12% <0.00%> (-0.04%)`	⬇️
... and 20 more

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rhaschke

Thanks for working on this. Please use templates instead of source code to generate files (see below).

moveit_setup_assistant/include/moveit/setup_assistant/tools/moveit_config_data.h

moveit_setup_assistant/src/tools/moveit_config_data.cpp

...ssistant/templates/moveit_config_pkg_template/launch/ompl-chomp_planning_pipeline.launch.xml

...tup_assistant/templates/moveit_config_pkg_template/launch/stomp_planning_pipeline.launch.xml

rickstaa · 2021-11-30T22:17:22Z

@rhaschke I will update the stomp config generation so that it includes the right planning groups tomorrow. I think after that this commit is ready to be merged.

This commit adds the launch and configuration files for the [STOMP algorithm](https://ros-planning.github.io/moveit_tutorials/doc/stomp_planner/stomp_planner_tutorial.html).

This commit adds the launch and configuration files for the [OMPL-CHOMP algorithm](https://ros-planning.github.io/moveit_tutorials/doc/chomp_planner/chomp_planner_tutorial.html#using-chomp-as-a-post-processor-for-ompl).

This commit removes several redundant parameters that were left after 6114fe5.

This makes sure the `ridge_factor` and `enable_failure_recovery` parameters in the CHOMP configuration file (see https://github.com/ros-planning/moveit/blob/4db626d9c3b5d6296b012188a4a0bfe4bddf6bce/moveit_setup_assistant/src/tools/moveit_config_data.cpp#L290-L309) are at their defaults (see https://github.com/ros-planning/moveit/blob/4db626d9c3b5d6296b012188a4a0bfe4bddf6bce/moveit_planners/chomp/chomp_interface/src/chomp_interface.cpp#L48-L83)

…unch/stomp_planning_pipeline.launch.xml Co-authored-by: Robert Haschke <rhaschke@users.noreply.github.com>

…unch/ompl-chomp_planning_pipeline.launch.xml Co-authored-by: Robert Haschke <rhaschke@users.noreply.github.com>

This commit replaces the `chomp_config.yaml` injection method by a simple template. This was done since the `chomp_config.yaml` file does not contain any variables that need to be dynamically generated.

This commit makes sure that the STOMP planning config that is generated using the MSA is general. The old version created the Panda Emika Franka stomp config found in the [panda_moveit_config](https://github.com/ros-planning/panda_moveit_config/blob/noetic-devel/config/stomp_planning.yaml) package.

rickstaa · 2021-12-07T12:01:25Z

@rhaschke This pull request is finished. I now made sure the STOMP config works with all robots instead of creating the Panda Stomp config (i.e. 87e0b87). I further cleaned up the CHOMP configuration file creation (70a24a0). I, however, found some problems when trying out the STOMP algorithm. Would you mind checking my comments made on this pull request before merging (i.e. comments regarding default values)?

Stomp problems

The STOMP algorithm does not work with the hand. I am not familiar with the stomp algorithm, so I am not sure if it supports the parallel yaw gripper; when I try controlling this gripper, MoveIt crashes.
The STOMP algorithm seems to reach the planning timeout but still can plan. The following console logs are shown:

moveit_setup_assistant/src/tools/moveit_config_data.cpp

rickstaa · 2021-11-11T09:48:18Z

moveit_planners/chomp/chomp_interface/src/chomp_interface.cpp

@@ -52,14 +52,9 @@ void CHOMPInterface::loadParams()
  nh_.param("obstacle_cost_weight", params_.obstacle_cost_weight_, 1.0);
  nh_.param("learning_rate", params_.learning_rate_, 0.01);

-  // nh_.param("add_randomness", params_.add_randomness_, false);


Please double-check if these commented parameters can really be removed or that they will be enabled again in the future. The code that uses them was removed in 6114fe5 by
@raghavendersahdev. If they are needed we can drop 504d9fe.

moveit_setup_assistant/src/tools/moveit_config_data.cpp

moveit_setup_assistant/include/moveit/setup_assistant/tools/moveit_config_data.h

moveit_setup_assistant/src/tools/moveit_config_data.cpp

moveit_setup_assistant/templates/moveit_config_pkg_template/config/chomp_planning.yaml

moveit_setup_assistant/src/tools/moveit_config_data.cpp

rhaschke

I generally approve. Just a small nitpick:

moveit_setup_assistant/templates/moveit_config_pkg_template/config/chomp_planning.yaml

...tup_assistant/templates/moveit_config_pkg_template/launch/stomp_planning_pipeline.launch.xml

…unch/stomp_planning_pipeline.launch.xml Co-authored-by: Robert Haschke <rhaschke@users.noreply.github.com>

rickstaa · 2022-01-07T09:12:00Z

@rhaschke Thanks for reviewing this pull request. Did you or @raghavendersahdev verify that the code removal I did in 6c930d7 is justified?

rhaschke · 2022-01-07T09:50:47Z

Did you or @raghavendersahdev verify that the code removal I did in 6c930d7 is justified?

As you said, the corresponding code was commented out a long time ago. I think it's good to have this cleanup.

rickstaa requested review from felixvd, rhaschke and v4hn as code owners November 11, 2021 08:56

rickstaa marked this pull request as draft November 11, 2021 08:56

rickstaa force-pushed the add_new_msa_planners branch 4 times, most recently from 3f34344 to b28da2d Compare November 11, 2021 09:19

rickstaa marked this pull request as ready for review November 11, 2021 09:57

rickstaa mentioned this pull request Nov 11, 2021

Noetic release moveit/panda_moveit_config#96

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rhaschke requested changes Nov 11, 2021

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rickstaa mentioned this pull request Nov 12, 2021

Noetic release moveit/panda_moveit_config#89

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26 tasks

rickstaa force-pushed the add_new_msa_planners branch from 014627c to 2a6be2e Compare November 16, 2021 15:51

rickstaa force-pushed the add_new_msa_planners branch from b09e2b0 to cc84eab Compare November 30, 2021 22:11

rickstaa marked this pull request as draft November 30, 2021 22:13

rickstaa and others added 7 commits November 30, 2021 23:17

feat: add stomp planner to MSA

bd36b2f

This commit adds the launch and configuration files for the [STOMP algorithm](https://ros-planning.github.io/moveit_tutorials/doc/stomp_planner/stomp_planner_tutorial.html).

feat: add chomp-ompl planner to MSA

2d7169f

This commit adds the launch and configuration files for the [OMPL-CHOMP algorithm](https://ros-planning.github.io/moveit_tutorials/doc/chomp_planner/chomp_planner_tutorial.html#using-chomp-as-a-post-processor-for-ompl).

style: remove redundant CHOMP parameters

6c930d7

This commit removes several redundant parameters that were left after 6114fe5.

Update moveit_setup_assistant/templates/moveit_config_pkg_template/la…

a53a829

…unch/stomp_planning_pipeline.launch.xml Co-authored-by: Robert Haschke <rhaschke@users.noreply.github.com>

Update moveit_setup_assistant/templates/moveit_config_pkg_template/la…

b05bee3

…unch/ompl-chomp_planning_pipeline.launch.xml Co-authored-by: Robert Haschke <rhaschke@users.noreply.github.com>

refactor(msa): simplify chomp configuration file injection

70a24a0

This commit replaces the `chomp_config.yaml` injection method by a simple template. This was done since the `chomp_config.yaml` file does not contain any variables that need to be dynamically generated.

rickstaa force-pushed the add_new_msa_planners branch from cc84eab to 70a24a0 Compare November 30, 2021 22:19

rickstaa added 2 commits November 30, 2021 23:43

style(msa): fix trailing whitespace

1fdada0

rickstaa marked this pull request as ready for review December 7, 2021 11:56

style: add pre-commit action clang suggestions

155fa4d

rhaschke reviewed Jan 6, 2022

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rickstaa commented Jan 6, 2022

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rhaschke approved these changes Jan 6, 2022

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moveit_setup_assistant/templates/moveit_config_pkg_template/config/chomp_planning.yaml Show resolved Hide resolved

...tup_assistant/templates/moveit_config_pkg_template/launch/stomp_planning_pipeline.launch.xml Outdated Show resolved Hide resolved

Update moveit_setup_assistant/templates/moveit_config_pkg_template/la…

3612369

…unch/stomp_planning_pipeline.launch.xml Co-authored-by: Robert Haschke <rhaschke@users.noreply.github.com>

rhaschke merged commit ea86018 into moveit:master Jan 7, 2022

rickstaa deleted the add_new_msa_planners branch January 7, 2022 10:10

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Add new msa planners #2955

Add new msa planners #2955

rickstaa commented Nov 11, 2021 •

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rickstaa commented Dec 7, 2021

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Add new msa planners #2955

Add new msa planners #2955

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rickstaa commented Dec 7, 2021

Stomp problems

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