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Refactor local planner plugins #447

Merged
merged 8 commits into from May 18, 2021
Merged

Refactor local planner plugins #447

merged 8 commits into from May 18, 2021

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sjahr
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@sjahr sjahr commented May 1, 2021 •
edited

Description

Refactor the existing local planner component plugins to work better in combination with ros2_control as new part of the pipeline.

  • Add interface between local_planner_component and underlying controller similar to the one that moveit_servo offers: Choose the topic interface by setting a parameter
  • Refactor next_waypoint_sampler into a more general simple_sampler which offers two operation modes: Forward the whole reference trajectory each cycle or forward it waypoint-wise
  • Merge the forward_trajectory solver plugin with the decelerate_before_collision solver plugin as the latter did not work correctly anyway. As result of the merge, the functionality of the forward_trajectory solver plugin is kept but additionally, it is now possible to enable collision checking of the desired local trajectory in order to stop in case the reference trajectory is invalidated.

Checklist

@sjahr sjahr force-pushed the pr-refactory_local_planner_plugins branch from e5258ee to e34782e Compare May 2, 2021 14:22
@sjahr sjahr changed the title WIP: Refactory local planner plugins Refactory local planner plugins May 2, 2021
@sjahr sjahr mentioned this pull request May 2, 2021
Closed
7 tasks
@sjahr sjahr force-pushed the pr-refactory_local_planner_plugins branch 2 times, most recently from aa9223e to 57c4d49 Compare May 4, 2021 13:29
@henningkayser henningkayser added this to Review in progress in Foxy 2.1.3 - May 21 May 4, 2021
@sjahr sjahr force-pushed the pr-refactory_local_planner_plugins branch from 57c4d49 to 5d66de3 Compare May 7, 2021 09:06
@sjahr sjahr changed the title Refactory local planner plugins Refactor local planner plugins May 7, 2021
@sjahr sjahr force-pushed the pr-refactory_local_planner_plugins branch from 5d66de3 to 6a0af64 Compare May 7, 2021 09:21
@henningkayser henningkayser merged commit 8544e66 into moveit:feature/hybrid_planning May 18, 2021
Foxy 2.1.3 - May 21 automation moved this from Review in progress to Done May 18, 2021
sjahr added a commit to sjahr/moveit2 that referenced this pull request Jun 4, 2021
@sjahr
Refactor local planner plugins (moveit#447)
272c2b9 
Refactor next_waypoint_sampler into simple_sampler

Include collision checking to forward_trajectory and remove unneeded plugin

Fix formatting and plugin description

Update README and add missing planner logic plugin description
sjahr added a commit to sjahr/moveit2 that referenced this pull request Jun 7, 2021
@sjahr
Refactor local planner plugins (moveit#447)
238a1d6 
Refactor next_waypoint_sampler into simple_sampler

Include collision checking to forward_trajectory and remove unneeded plugin

Fix formatting and plugin description

Update README and add missing planner logic plugin description
sjahr added a commit to sjahr/moveit2 that referenced this pull request Jun 7, 2021
@sjahr
Refactor local planner plugins (moveit#447)
fedcd7c 
* Add reset method for trajectory operator and local constraint sampler
* Refactor next_waypoint_sampler into simple_sampler
* Include collision checking to forward_trajectory and remove unneeded plugin
* Fix formatting and plugin description
* Update README and add missing planner logic plugin description
sjahr added a commit to sjahr/moveit2 that referenced this pull request Jun 7, 2021
@sjahr
Refactor local planner plugins (moveit#447)
6ca59fa 
* Add reset method for trajectory operator and local constraint sampler
* Refactor next_waypoint_sampler into simple_sampler
* Include collision checking to forward_trajectory and remove unneeded plugin
* Fix formatting and plugin description
* Update README and add missing planner logic plugin description
henningkayser pushed a commit to henningkayser/moveit2 that referenced this pull request Jul 6, 2021
@sjahr @henningkayser
Refactor local planner plugins (moveit#447)
7e44567 
* Add reset method for trajectory operator and local constraint sampler
* Refactor next_waypoint_sampler into simple_sampler
* Include collision checking to forward_trajectory and remove unneeded plugin
* Fix formatting and plugin description
* Update README and add missing planner logic plugin description
sjahr added a commit to sjahr/moveit2 that referenced this pull request Aug 21, 2021
@sjahr
Refactor local planner plugins (moveit#447)
8aea9f4 
* Add reset method for trajectory operator and local constraint sampler
* Refactor next_waypoint_sampler into simple_sampler
* Include collision checking to forward_trajectory and remove unneeded plugin
* Fix formatting and plugin description
* Update README and add missing planner logic plugin description
sjahr added a commit to sjahr/moveit2 that referenced this pull request Sep 28, 2021
@sjahr
Refactor local planner plugins (moveit#447)
ebd9919 
* Add reset method for trajectory operator and local constraint sampler
* Refactor next_waypoint_sampler into simple_sampler
* Include collision checking to forward_trajectory and remove unneeded plugin
* Fix formatting and plugin description
* Update README and add missing planner logic plugin description
sjahr added a commit to sjahr/moveit2 that referenced this pull request Oct 19, 2021
@sjahr
Refactor local planner plugins (moveit#447)
f224d81 
* Add reset method for trajectory operator and local constraint sampler
* Refactor next_waypoint_sampler into simple_sampler
* Include collision checking to forward_trajectory and remove unneeded plugin
* Fix formatting and plugin description
* Update README and add missing planner logic plugin description
sjahr added a commit to sjahr/moveit2 that referenced this pull request Oct 28, 2021
@sjahr
Refactor local planner plugins (moveit#447)
5952e84 
* Add reset method for trajectory operator and local constraint sampler
* Refactor next_waypoint_sampler into simple_sampler
* Include collision checking to forward_trajectory and remove unneeded plugin
* Fix formatting and plugin description
* Update README and add missing planner logic plugin description
sjahr added a commit to sjahr/moveit2 that referenced this pull request Nov 18, 2021
@sjahr
Refactor local planner plugins (moveit#447)
6ef62f5 
* Add reset method for trajectory operator and local constraint sampler
* Refactor next_waypoint_sampler into simple_sampler
* Include collision checking to forward_trajectory and remove unneeded plugin
* Fix formatting and plugin description
* Update README and add missing planner logic plugin description
AndyZe pushed a commit to AndyZe/moveit2 that referenced this pull request Nov 24, 2021
@sjahr @AndyZe
Refactor local planner plugins (moveit#447)
77cd0d2 
* Add reset method for trajectory operator and local constraint sampler
* Refactor next_waypoint_sampler into simple_sampler
* Include collision checking to forward_trajectory and remove unneeded plugin
* Fix formatting and plugin description
* Update README and add missing planner logic plugin description
AndyZe pushed a commit to AndyZe/moveit2 that referenced this pull request Nov 29, 2021
@sjahr @AndyZe
Refactor local planner plugins (moveit#447)
2927571 
* Add reset method for trajectory operator and local constraint sampler
* Refactor next_waypoint_sampler into simple_sampler
* Include collision checking to forward_trajectory and remove unneeded plugin
* Fix formatting and plugin description
* Update README and add missing planner logic plugin description

Add TODO to use lifecycle components nodes to trigger initialization

Return a reaction result instead of bool on react()

Set invalidation flag to false on reset() in ForwardTrajectory local solver

Return local planner feedback from trajectory operator function calls

Fix segfault caused by passing through the global trajectory

Update comment, unify logging and add missing config parameters

Update to rolling
AndyZe pushed a commit to AndyZe/moveit2 that referenced this pull request Nov 29, 2021
@sjahr @AndyZe
Refactor local planner plugins (moveit#447)
e999a87 
* Add reset method for trajectory operator and local constraint sampler
* Refactor next_waypoint_sampler into simple_sampler
* Include collision checking to forward_trajectory and remove unneeded plugin
* Fix formatting and plugin description
* Update README and add missing planner logic plugin description

Add TODO to use lifecycle components nodes to trigger initialization

Return a reaction result instead of bool on react()

Set invalidation flag to false on reset() in ForwardTrajectory local solver

Return local planner feedback from trajectory operator function calls

Fix segfault caused by passing through the global trajectory

Update comment, unify logging and add missing config parameters

Update to rolling
AndyZe pushed a commit to AndyZe/moveit2 that referenced this pull request Nov 30, 2021
@sjahr @AndyZe
Refactor local planner plugins (moveit#447)
63ee59b 
* Add reset method for trajectory operator and local constraint sampler
* Refactor next_waypoint_sampler into simple_sampler
* Include collision checking to forward_trajectory and remove unneeded plugin
* Fix formatting and plugin description
* Update README and add missing planner logic plugin description

Add TODO to use lifecycle components nodes to trigger initialization

Return a reaction result instead of bool on react()

Set invalidation flag to false on reset() in ForwardTrajectory local solver

Return local planner feedback from trajectory operator function calls

Fix segfault caused by passing through the global trajectory

Update comment, unify logging and add missing config parameters

Update to rolling
AndyZe pushed a commit to AndyZe/moveit2 that referenced this pull request Dec 3, 2021
@sjahr @AndyZe
Refactor local planner plugins (moveit#447)
10ac522 
* Add reset method for trajectory operator and local constraint sampler
* Refactor next_waypoint_sampler into simple_sampler
* Include collision checking to forward_trajectory and remove unneeded plugin
* Fix formatting and plugin description
* Update README and add missing planner logic plugin description

Add TODO to use lifecycle components nodes to trigger initialization

Return a reaction result instead of bool on react()

Set invalidation flag to false on reset() in ForwardTrajectory local solver

Return local planner feedback from trajectory operator function calls

Fix segfault caused by passing through the global trajectory

Update comment, unify logging and add missing config parameters

Update to rolling
AndyZe pushed a commit to AndyZe/moveit2 that referenced this pull request Dec 7, 2021
@sjahr @AndyZe
Refactor local planner plugins (moveit#447)
23658e1 
* Add reset method for trajectory operator and local constraint sampler
* Refactor next_waypoint_sampler into simple_sampler
* Include collision checking to forward_trajectory and remove unneeded plugin
* Fix formatting and plugin description
* Update README and add missing planner logic plugin description

Add TODO to use lifecycle components nodes to trigger initialization

Return a reaction result instead of bool on react()

Set invalidation flag to false on reset() in ForwardTrajectory local solver

Return local planner feedback from trajectory operator function calls

Fix segfault caused by passing through the global trajectory

Update comment, unify logging and add missing config parameters

Update to rolling
AndyZe pushed a commit to AndyZe/moveit2 that referenced this pull request Dec 7, 2021
@sjahr @AndyZe
Refactor local planner plugins (moveit#447)
854a5c4 
* Add reset method for trajectory operator and local constraint sampler
* Refactor next_waypoint_sampler into simple_sampler
* Include collision checking to forward_trajectory and remove unneeded plugin
* Fix formatting and plugin description
* Update README and add missing planner logic plugin description

Add TODO to use lifecycle components nodes to trigger initialization

Return a reaction result instead of bool on react()

Set invalidation flag to false on reset() in ForwardTrajectory local solver

Return local planner feedback from trajectory operator function calls

Fix segfault caused by passing through the global trajectory

Update comment, unify logging and add missing config parameters

Update to rolling
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@sjahr @henningkayser