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Port OMPL orientation constraints to MoveIt2 #1273
Port OMPL orientation constraints to MoveIt2 #1273
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Codecov Report
@@ Coverage Diff @@
## main #1273 +/- ##
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- Coverage 61.46% 61.41% -0.05%
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Files 274 274
Lines 24940 24963 +23
==========================================
Hits 15328 15328
- Misses 9612 9635 +23
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moveit_planners/ompl/ompl_interface/include/moveit/ompl_interface/detail/ompl_constraints.h
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moveit_planners/ompl/ompl_interface/include/moveit/ompl_interface/detail/ompl_constraints.h
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moveit_planners/ompl/ompl_interface/include/moveit/ompl_interface/detail/ompl_constraints.h
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moveit_planners/ompl/ompl_interface/include/moveit/ompl_interface/detail/ompl_constraints.h
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moveit_planners/ompl/ompl_interface/include/moveit/ompl_interface/detail/ompl_constraints.h
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moveit_planners/ompl/ompl_interface/src/detail/ompl_constraints.cpp
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} | ||
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if (num_pos_con > 0 && num_ori_con > 0) | ||
{ | ||
RCLCPP_ERROR(LOGGER, "Combining position and orientation constraints not implemented yet for OMPL's constrained " | ||
RCLCPP_ERROR(LOGGER, "Combining position and orientation constraints is not implemented yet for OMPL's constrained " |
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Oh, this kind of sucks. Oh well. We can work with it.
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@JeroenDM what is the difficulty here? The underlying OMPL code shouldn't care. Can you describe what is needed to support this?
moveit_planners/ompl/ompl_interface/src/detail/ompl_constraints.cpp
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moveit_planners/ompl/ompl_interface/include/moveit/ompl_interface/detail/ompl_constraints.h
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Co-authored-by: AndyZe <andyz@utexas.edu>
@AndyZe I've started incorporating your suggestions - I noted some of them will modify the orientation constraints in a way that's not consistent with the equality or box constraints (like removing the |
That sounds good to me. Let's check if somebody else agrees (@henningkayser @JafarAbdi @vatanaksoytezer) |
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Looks good, I just left some minor comments
moveit_planners/ompl/ompl_interface/include/moveit/ompl_interface/detail/ompl_constraints.h
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moveit_planners/ompl/ompl_interface/include/moveit/ompl_interface/detail/ompl_constraints.h
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moveit_planners/ompl/ompl_interface/include/moveit/ompl_interface/detail/ompl_constraints.h
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Besides @sjahr's requests for more comments, I'd say this is good to go
moveit_planners/ompl/ompl_interface/src/planning_context_manager.cpp
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* add orientation constraints to ompl interface * also use constrained planner for a single orientation constraint * Port orientation constraints to ROS2 * Update oreintation constraints for to use Bounds properly * Fix warning text * Use correct parameterization type * Clang-tidy fixes and cleanup * Apply suggestions from code review Co-authored-by: AndyZe <andyz@utexas.edu> * Removed all RCLCPP_DEBUG lines for consistency * Add extra comments for doxygen, apply const & * Fix logic for using the ConstrainedPlanningStateSpace Co-authored-by: JeroenDM <jeroendemaeyer@live.be> Co-authored-by: AndyZe <andyz@utexas.edu>
Description
Port of the OMPL orientation constraints. Update to the tutorial is in progress here: moveit/moveit2_tutorials#386