Fix Ruckig termination condition#1963
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henningkayser merged 1 commit intomoveit:mainfrom Mar 10, 2023
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Codecov ReportPatch coverage:
Additional details and impacted files@@ Coverage Diff @@
## main #1963 +/- ##
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- Coverage 50.31% 50.16% -0.14%
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Files 374 374
Lines 31358 31354 -4
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- Hits 15774 15726 -48
- Misses 15584 15628 +44
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AndyZe
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Feb 22, 2023
moveit_core/trajectory_processing/test/test_ruckig_traj_smoothing.cpp
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henningkayser
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Mar 10, 2023
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Description
Previously I didn't understand the difference between
ruckig::Finishedandruckig::Workingso I focused only onruckig::Finished. There's not much documentation but here it is: https://github.com/pantor/ruckig/blob/master/include/ruckig/result.hppThis corrects that error and adds a comment. Fixes #1960
This should significantly speed up Ruckig-smoothed trajectories. I'm seeing speedups in the range of 50% although it depends on the specific robot configuration.
Fixes #1960. It is a port of this MoveIt1 PR: moveit/moveit#3348
@swiz23 @mechwiz @nbbrooks
Plots. The performance is close to optimal but not quite optimal. This makes sense because the iterative process for multiple waypoints involves extending durations in 10% increments -- so it could be up to 10% non-optimal.
J1, vel limit=2.18 rad/s, accel limit=3.75 rad/s^2, jerk limit=100
J3, vel limit=2.18, accel limit=2.5, jerk limit=100
