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[Ruckig traj smoothing] Add a test, termination condition bugfix#3348

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henningkayser merged 7 commits intomoveit:masterfrom
AndyZe:andyz/ruckig_duration
Feb 24, 2023
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[Ruckig traj smoothing] Add a test, termination condition bugfix#3348
henningkayser merged 7 commits intomoveit:masterfrom
AndyZe:andyz/ruckig_duration

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@AndyZe AndyZe commented Feb 20, 2023 •
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Description

Previously I didn't understand the difference between ruckig::Finished and ruckig::Working so I focused only on ruckig::Finished. There's not much documentation but here it is: https://github.com/pantor/ruckig/blob/master/include/ruckig/result.hpp

This corrects that error and adds a comment. A new test is also added.

@AndyZe AndyZe requested a review from mlautman as a code owner February 20, 2023 20:13
@AndyZe AndyZe requested a review from henningkayser February 20, 2023 20:14
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codecov bot commented Feb 20, 2023 •
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Codecov Report

Base: 61.93% // Head: 61.83% // Decreases project coverage by -0.10% ⚠️

Coverage data is based on head (aff395c) compared to base (a7684e7).
Patch coverage: 32.15% of modified lines in pull request are covered.

Additional details and impacted files 
@@            Coverage Diff             @@
##           master    #3348      +/-   ##
==========================================
- Coverage   61.93%   61.83%   -0.10%     
==========================================
  Files         380      380              
  Lines       33593    33592       -1     
==========================================
- Hits        20804    20768      -36     
- Misses      12789    12824      +35
Impacted Files Coverage Δ
...rajectory_processing/src/ruckig_traj_smoothing.cpp 64.09% <32.15%> (-27.26%) ⬇️
...g_scene_interface/src/planning_scene_interface.cpp 51.10% <0.00%> (-1.09%) ⬇️
...ove_group_interface/src/wrap_python_move_group.cpp 46.91% <0.00%> (-0.09%) ⬇️
...moveit/move_group_interface/move_group_interface.h 36.85% <0.00%> (ø)
...nning_scene_monitor/src/planning_scene_monitor.cpp 66.47% <0.00%> (+0.13%) ⬆️
...dl_kinematics_plugin/src/kdl_kinematics_plugin.cpp 78.28% <0.00%> (+0.38%) ⬆️
...on/pick_place/src/approach_and_translate_stage.cpp 75.76% <0.00%> (+0.61%) ⬆️
moveit_core/robot_state/src/robot_state.cpp 51.89% <0.00%> (+0.63%) ⬆️
...ipulation/pick_place/src/manipulation_pipeline.cpp 74.39% <0.00%> (+2.48%) ⬆️
... and 1 more

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@AndyZe AndyZe marked this pull request as draft February 21, 2023 15:16
@AndyZe AndyZe force-pushed the andyz/ruckig_duration branch 4 times, most recently from 25e1a67 to 0876171 Compare February 21, 2023 19:02
@AndyZe AndyZe force-pushed the andyz/ruckig_duration branch from 0876171 to 915adda Compare February 21, 2023 21:22
@AndyZe AndyZe marked this pull request as ready for review February 21, 2023 22:56
@AndyZe AndyZe force-pushed the andyz/ruckig_duration branch from a004e81 to 7bb2d29 Compare February 22, 2023 14:16
AndyZe
AndyZe commented Feb 22, 2023
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@AndyZe AndyZe mentioned this pull request Feb 22, 2023
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henningkayser reviewed Feb 22, 2023
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Just some minor questions from my end. The performance improvement seems apparent, but I don't really follow why it exists

@AndyZe AndyZe force-pushed the andyz/ruckig_duration branch from b0019e1 to 3060c32 Compare February 22, 2023 21:00
@AndyZe AndyZe force-pushed the andyz/ruckig_duration branch from 3060c32 to aff395c Compare February 22, 2023 21:06
@henningkayser henningkayser merged commit 326e9b5 into moveit:master Feb 24, 2023
@AndyZe AndyZe deleted the andyz/ruckig_duration branch February 24, 2023 18:58
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AndyZe commented Feb 24, 2023 •
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I grabbed some plots to verify this doesn't do anything crazy. Seems good from what I can tell. Not quite optimal because of the iterative nature of multiple waypoints, but close to it.

J1, vel limit=2.18 rad/s, accel limit=3.75 rad/s^2, jerk limit=100
j1

J3, vel limit=2.18, accel limit=2.5, jerk limit=100
j3

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@henningkayser henningkayser henningkayser approved these changes

@mlautman mlautman Awaiting requested review from mlautman

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@AndyZe @henningkayser