Refine local planner component#326
Merged
henningkayser merged 31 commits intomoveit:feature/hybrid_planningfrom Jan 27, 2021
Merged
Refine local planner component#326henningkayser merged 31 commits intomoveit:feature/hybrid_planningfrom
henningkayser merged 31 commits intomoveit:feature/hybrid_planningfrom
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Codecov Report
@@ Coverage Diff @@
## feature/hybrid_planning #326 +/- ##
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Coverage 48.00% 48.00%
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Files 157 157
Lines 14843 14843
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Hits 7124 7124
Misses 7719 7719 Continue to review full report at Codecov.
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moveit_ros/hybrid_planning/constraint_solver_plugins/src/handle_imminent_collision.cpp
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moveit_ros/hybrid_planning/constraint_solver_plugins/src/handle_imminent_collision.cpp
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moveit_ros/hybrid_planning/constraint_solver_plugins/src/handle_imminent_collision.cpp
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moveit_ros/hybrid_planning/constraint_solver_plugins/src/handle_imminent_collision.cpp
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moveit_ros/hybrid_planning/constraint_solver_plugins/src/handle_imminent_collision.cpp
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moveit_ros/hybrid_planning/constraint_solver_plugins/src/handle_imminent_collision.cpp
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...ros/hybrid_planning/local_planner/include/moveit/local_planner/constraint_solver_interface.h
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moveit_ros/hybrid_planning/local_planner/include/moveit/local_planner/local_planner_component.h
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moveit_ros/hybrid_planning/local_planner/include/moveit/local_planner/local_planner_component.h
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moveit_ros/hybrid_planning/local_planner/src/constraint_solver_interface.cpp
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moveit_ros/hybrid_planning/constraint_solver_plugins/src/handle_imminent_collision.cpp
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please fix CI, then lgtm |
henningkayser
approved these changes
Jan 27, 2021
sjahr
added a commit
to sjahr/moveit2
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this pull request
Jun 4, 2021
Add next_waypoint_sampler trajectory operator Update hybrid planning test to include collision object Clean up code and fix minor bugs. Update local planner component parameter Add local collision constraint solver Update planning scene topic name and test node Fix bugs and runtime errors in local planner component and it's plugins Add collision object that invalidates global trajectory Add simple "stop in front of collision object" demo Add hybrid planning manager reaction to local planner feedback Fix ament_lint_cmake Ensure that local planner start command and collision event are send once Add simple replanning logic plugin Use current state as start state for global planner Use RobotTrajectory instead of constraint vector describe local problem Add PlanningSceneMonitorPtr to local solver plugin Add local planner frequency parameter Use PID controller to create control outputs for robot controller Add hybrid_planning_manager config file Add more complex test node Update README Reset index in next_waypoint_sampler Use correct isPathValid() interface Rename path_invalidation flag Read planning scene instead of cloning it in local planner Add TODO creator Rename local constraint solver plugin Use read-locked access to the planning scene for collision checking Rename constraint_solver into local_constraint_solver Add missing pointer initialization
sjahr
added a commit
to sjahr/moveit2
that referenced
this pull request
Jun 4, 2021
Add next_waypoint_sampler trajectory operator Update hybrid planning test to include collision object Clean up code and fix minor bugs. Update local planner component parameter Add local collision constraint solver Update planning scene topic name and test node Fix bugs and runtime errors in local planner component and it's plugins Add collision object that invalidates global trajectory Add simple "stop in front of collision object" demo Add hybrid planning manager reaction to local planner feedback Fix ament_lint_cmake Ensure that local planner start command and collision event are send once Add simple replanning logic plugin Use current state as start state for global planner Use RobotTrajectory instead of constraint vector describe local problem Add PlanningSceneMonitorPtr to local solver plugin Add local planner frequency parameter Use PID controller to create control outputs for robot controller Add hybrid_planning_manager config file Add more complex test node Update README Reset index in next_waypoint_sampler Use correct isPathValid() interface Rename path_invalidation flag Read planning scene instead of cloning it in local planner Add TODO creator Rename local constraint solver plugin Use read-locked access to the planning scene for collision checking Rename constraint_solver into local_constraint_solver Add missing pointer initialization
sjahr
added a commit
to sjahr/moveit2
that referenced
this pull request
Jun 7, 2021
Add next_waypoint_sampler trajectory operator Update hybrid planning test to include collision object Clean up code and fix minor bugs. Update local planner component parameter Add local collision constraint solver Update planning scene topic name and test node Fix bugs and runtime errors in local planner component and it's plugins Add collision object that invalidates global trajectory Add simple "stop in front of collision object" demo Add hybrid planning manager reaction to local planner feedback Fix ament_lint_cmake Ensure that local planner start command and collision event are send once Add simple replanning logic plugin Use current state as start state for global planner Use RobotTrajectory instead of constraint vector describe local problem Add PlanningSceneMonitorPtr to local solver plugin Add local planner frequency parameter Use PID controller to create control outputs for robot controller Add hybrid_planning_manager config file Add more complex test node Update README Reset index in next_waypoint_sampler Use correct isPathValid() interface Rename path_invalidation flag Read planning scene instead of cloning it in local planner Add TODO creator Rename local constraint solver plugin Use read-locked access to the planning scene for collision checking Rename constraint_solver into local_constraint_solver Add missing pointer initialization
sjahr
added a commit
to sjahr/moveit2
that referenced
this pull request
Jun 7, 2021
* Make local planner component generic * Add next_waypoint_sampler trajectory operator * Update hybrid planning test to include collision object * Clean up code and fix minor bugs. * Update local planner component parameter * Add local collision constraint solver * Update planning scene topic name and test node * Fix bugs and runtime errors in local planner component and it's plugins * Add collision object that invalidates global trajectory * Add simple "stop in front of collision object" demo * Add hybrid planning manager reaction to local planner feedback * Fix ament_lint_cmake * Ensure that local planner start command and collision event are send once * Add simple replanning logic plugin * Use current state as start state for global planner * Use RobotTrajectory instead of constraint vector describe local problem * Add PlanningSceneMonitorPtr to local solver plugin * Add local planner frequency parameter * Use PID controller to create control outputs for robot controller * Add hybrid_planning_manager config file * Add more complex test node * Update README * Reset index in next_waypoint_sampler * Use correct isPathValid() interface * Rename path_invalidation flag * Read planning scene instead of cloning it in local planner * Add TODO creator * Rename local constraint solver plugin * Use read-locked access to the planning scene for collision checking * Rename constraint_solver into local_constraint_solver * Add missing pointer initialization
henningkayser
pushed a commit
to henningkayser/moveit2
that referenced
this pull request
Jul 6, 2021
* Make local planner component generic * Add next_waypoint_sampler trajectory operator * Update hybrid planning test to include collision object * Clean up code and fix minor bugs. * Update local planner component parameter * Add local collision constraint solver * Update planning scene topic name and test node * Fix bugs and runtime errors in local planner component and it's plugins * Add collision object that invalidates global trajectory * Add simple "stop in front of collision object" demo * Add hybrid planning manager reaction to local planner feedback * Fix ament_lint_cmake * Ensure that local planner start command and collision event are send once * Add simple replanning logic plugin * Use current state as start state for global planner * Use RobotTrajectory instead of constraint vector describe local problem * Add PlanningSceneMonitorPtr to local solver plugin * Add local planner frequency parameter * Use PID controller to create control outputs for robot controller * Add hybrid_planning_manager config file * Add more complex test node * Update README * Reset index in next_waypoint_sampler * Use correct isPathValid() interface * Rename path_invalidation flag * Read planning scene instead of cloning it in local planner * Add TODO creator * Rename local constraint solver plugin * Use read-locked access to the planning scene for collision checking * Rename constraint_solver into local_constraint_solver * Add missing pointer initialization
sjahr
added a commit
to sjahr/moveit2
that referenced
this pull request
Aug 21, 2021
* Make local planner component generic * Add next_waypoint_sampler trajectory operator * Update hybrid planning test to include collision object * Clean up code and fix minor bugs. * Update local planner component parameter * Add local collision constraint solver * Update planning scene topic name and test node * Fix bugs and runtime errors in local planner component and it's plugins * Add collision object that invalidates global trajectory * Add simple "stop in front of collision object" demo * Add hybrid planning manager reaction to local planner feedback * Fix ament_lint_cmake * Ensure that local planner start command and collision event are send once * Add simple replanning logic plugin * Use current state as start state for global planner * Use RobotTrajectory instead of constraint vector describe local problem * Add PlanningSceneMonitorPtr to local solver plugin * Add local planner frequency parameter * Use PID controller to create control outputs for robot controller * Add hybrid_planning_manager config file * Add more complex test node * Update README * Reset index in next_waypoint_sampler * Use correct isPathValid() interface * Rename path_invalidation flag * Read planning scene instead of cloning it in local planner * Add TODO creator * Rename local constraint solver plugin * Use read-locked access to the planning scene for collision checking * Rename constraint_solver into local_constraint_solver * Add missing pointer initialization
sjahr
added a commit
to sjahr/moveit2
that referenced
this pull request
Sep 28, 2021
* Make local planner component generic * Add next_waypoint_sampler trajectory operator * Update hybrid planning test to include collision object * Clean up code and fix minor bugs. * Update local planner component parameter * Add local collision constraint solver * Update planning scene topic name and test node * Fix bugs and runtime errors in local planner component and it's plugins * Add collision object that invalidates global trajectory * Add simple "stop in front of collision object" demo * Add hybrid planning manager reaction to local planner feedback * Fix ament_lint_cmake * Ensure that local planner start command and collision event are send once * Add simple replanning logic plugin * Use current state as start state for global planner * Use RobotTrajectory instead of constraint vector describe local problem * Add PlanningSceneMonitorPtr to local solver plugin * Add local planner frequency parameter * Use PID controller to create control outputs for robot controller * Add hybrid_planning_manager config file * Add more complex test node * Update README * Reset index in next_waypoint_sampler * Use correct isPathValid() interface * Rename path_invalidation flag * Read planning scene instead of cloning it in local planner * Add TODO creator * Rename local constraint solver plugin * Use read-locked access to the planning scene for collision checking * Rename constraint_solver into local_constraint_solver * Add missing pointer initialization
sjahr
added a commit
to sjahr/moveit2
that referenced
this pull request
Oct 19, 2021
* Make local planner component generic * Add next_waypoint_sampler trajectory operator * Update hybrid planning test to include collision object * Clean up code and fix minor bugs. * Update local planner component parameter * Add local collision constraint solver * Update planning scene topic name and test node * Fix bugs and runtime errors in local planner component and it's plugins * Add collision object that invalidates global trajectory * Add simple "stop in front of collision object" demo * Add hybrid planning manager reaction to local planner feedback * Fix ament_lint_cmake * Ensure that local planner start command and collision event are send once * Add simple replanning logic plugin * Use current state as start state for global planner * Use RobotTrajectory instead of constraint vector describe local problem * Add PlanningSceneMonitorPtr to local solver plugin * Add local planner frequency parameter * Use PID controller to create control outputs for robot controller * Add hybrid_planning_manager config file * Add more complex test node * Update README * Reset index in next_waypoint_sampler * Use correct isPathValid() interface * Rename path_invalidation flag * Read planning scene instead of cloning it in local planner * Add TODO creator * Rename local constraint solver plugin * Use read-locked access to the planning scene for collision checking * Rename constraint_solver into local_constraint_solver * Add missing pointer initialization
sjahr
added a commit
to sjahr/moveit2
that referenced
this pull request
Oct 28, 2021
* Make local planner component generic * Add next_waypoint_sampler trajectory operator * Update hybrid planning test to include collision object * Clean up code and fix minor bugs. * Update local planner component parameter * Add local collision constraint solver * Update planning scene topic name and test node * Fix bugs and runtime errors in local planner component and it's plugins * Add collision object that invalidates global trajectory * Add simple "stop in front of collision object" demo * Add hybrid planning manager reaction to local planner feedback * Fix ament_lint_cmake * Ensure that local planner start command and collision event are send once * Add simple replanning logic plugin * Use current state as start state for global planner * Use RobotTrajectory instead of constraint vector describe local problem * Add PlanningSceneMonitorPtr to local solver plugin * Add local planner frequency parameter * Use PID controller to create control outputs for robot controller * Add hybrid_planning_manager config file * Add more complex test node * Update README * Reset index in next_waypoint_sampler * Use correct isPathValid() interface * Rename path_invalidation flag * Read planning scene instead of cloning it in local planner * Add TODO creator * Rename local constraint solver plugin * Use read-locked access to the planning scene for collision checking * Rename constraint_solver into local_constraint_solver * Add missing pointer initialization
sjahr
added a commit
to sjahr/moveit2
that referenced
this pull request
Nov 18, 2021
* Make local planner component generic * Add next_waypoint_sampler trajectory operator * Update hybrid planning test to include collision object * Clean up code and fix minor bugs. * Update local planner component parameter * Add local collision constraint solver * Update planning scene topic name and test node * Fix bugs and runtime errors in local planner component and it's plugins * Add collision object that invalidates global trajectory * Add simple "stop in front of collision object" demo * Add hybrid planning manager reaction to local planner feedback * Fix ament_lint_cmake * Ensure that local planner start command and collision event are send once * Add simple replanning logic plugin * Use current state as start state for global planner * Use RobotTrajectory instead of constraint vector describe local problem * Add PlanningSceneMonitorPtr to local solver plugin * Add local planner frequency parameter * Use PID controller to create control outputs for robot controller * Add hybrid_planning_manager config file * Add more complex test node * Update README * Reset index in next_waypoint_sampler * Use correct isPathValid() interface * Rename path_invalidation flag * Read planning scene instead of cloning it in local planner * Add TODO creator * Rename local constraint solver plugin * Use read-locked access to the planning scene for collision checking * Rename constraint_solver into local_constraint_solver * Add missing pointer initialization
AndyZe
pushed a commit
to AndyZe/moveit2
that referenced
this pull request
Nov 24, 2021
* Make local planner component generic * Add next_waypoint_sampler trajectory operator * Update hybrid planning test to include collision object * Clean up code and fix minor bugs. * Update local planner component parameter * Add local collision constraint solver * Update planning scene topic name and test node * Fix bugs and runtime errors in local planner component and it's plugins * Add collision object that invalidates global trajectory * Add simple "stop in front of collision object" demo * Add hybrid planning manager reaction to local planner feedback * Fix ament_lint_cmake * Ensure that local planner start command and collision event are send once * Add simple replanning logic plugin * Use current state as start state for global planner * Use RobotTrajectory instead of constraint vector describe local problem * Add PlanningSceneMonitorPtr to local solver plugin * Add local planner frequency parameter * Use PID controller to create control outputs for robot controller * Add hybrid_planning_manager config file * Add more complex test node * Update README * Reset index in next_waypoint_sampler * Use correct isPathValid() interface * Rename path_invalidation flag * Read planning scene instead of cloning it in local planner * Add TODO creator * Rename local constraint solver plugin * Use read-locked access to the planning scene for collision checking * Rename constraint_solver into local_constraint_solver * Add missing pointer initialization
AndyZe
pushed a commit
to AndyZe/moveit2
that referenced
this pull request
Nov 29, 2021
* Make local planner component generic * Add next_waypoint_sampler trajectory operator * Update hybrid planning test to include collision object * Clean up code and fix minor bugs. * Update local planner component parameter * Add local collision constraint solver * Update planning scene topic name and test node * Fix bugs and runtime errors in local planner component and it's plugins * Add collision object that invalidates global trajectory * Add simple "stop in front of collision object" demo * Add hybrid planning manager reaction to local planner feedback * Fix ament_lint_cmake * Ensure that local planner start command and collision event are send once * Add simple replanning logic plugin * Use current state as start state for global planner * Use RobotTrajectory instead of constraint vector describe local problem * Add PlanningSceneMonitorPtr to local solver plugin * Add local planner frequency parameter * Use PID controller to create control outputs for robot controller * Add hybrid_planning_manager config file * Add more complex test node * Update README * Reset index in next_waypoint_sampler * Use correct isPathValid() interface * Rename path_invalidation flag * Read planning scene instead of cloning it in local planner * Add TODO creator * Rename local constraint solver plugin * Use read-locked access to the planning scene for collision checking * Rename constraint_solver into local_constraint_solver * Add missing pointer initialization
AndyZe
pushed a commit
to AndyZe/moveit2
that referenced
this pull request
Nov 30, 2021
* Make local planner component generic * Add next_waypoint_sampler trajectory operator * Update hybrid planning test to include collision object * Clean up code and fix minor bugs. * Update local planner component parameter * Add local collision constraint solver * Update planning scene topic name and test node * Fix bugs and runtime errors in local planner component and it's plugins * Add collision object that invalidates global trajectory * Add simple "stop in front of collision object" demo * Add hybrid planning manager reaction to local planner feedback * Fix ament_lint_cmake * Ensure that local planner start command and collision event are send once * Add simple replanning logic plugin * Use current state as start state for global planner * Use RobotTrajectory instead of constraint vector describe local problem * Add PlanningSceneMonitorPtr to local solver plugin * Add local planner frequency parameter * Use PID controller to create control outputs for robot controller * Add hybrid_planning_manager config file * Add more complex test node * Update README * Reset index in next_waypoint_sampler * Use correct isPathValid() interface * Rename path_invalidation flag * Read planning scene instead of cloning it in local planner * Add TODO creator * Rename local constraint solver plugin * Use read-locked access to the planning scene for collision checking * Rename constraint_solver into local_constraint_solver * Add missing pointer initialization
AndyZe
pushed a commit
to AndyZe/moveit2
that referenced
this pull request
Dec 3, 2021
* Make local planner component generic * Add next_waypoint_sampler trajectory operator * Update hybrid planning test to include collision object * Clean up code and fix minor bugs. * Update local planner component parameter * Add local collision constraint solver * Update planning scene topic name and test node * Fix bugs and runtime errors in local planner component and it's plugins * Add collision object that invalidates global trajectory * Add simple "stop in front of collision object" demo * Add hybrid planning manager reaction to local planner feedback * Fix ament_lint_cmake * Ensure that local planner start command and collision event are send once * Add simple replanning logic plugin * Use current state as start state for global planner * Use RobotTrajectory instead of constraint vector describe local problem * Add PlanningSceneMonitorPtr to local solver plugin * Add local planner frequency parameter * Use PID controller to create control outputs for robot controller * Add hybrid_planning_manager config file * Add more complex test node * Update README * Reset index in next_waypoint_sampler * Use correct isPathValid() interface * Rename path_invalidation flag * Read planning scene instead of cloning it in local planner * Add TODO creator * Rename local constraint solver plugin * Use read-locked access to the planning scene for collision checking * Rename constraint_solver into local_constraint_solver * Add missing pointer initialization
AndyZe
pushed a commit
to AndyZe/moveit2
that referenced
this pull request
Dec 7, 2021
* Make local planner component generic * Add next_waypoint_sampler trajectory operator * Update hybrid planning test to include collision object * Clean up code and fix minor bugs. * Update local planner component parameter * Add local collision constraint solver * Update planning scene topic name and test node * Fix bugs and runtime errors in local planner component and it's plugins * Add collision object that invalidates global trajectory * Add simple "stop in front of collision object" demo * Add hybrid planning manager reaction to local planner feedback * Fix ament_lint_cmake * Ensure that local planner start command and collision event are send once * Add simple replanning logic plugin * Use current state as start state for global planner * Use RobotTrajectory instead of constraint vector describe local problem * Add PlanningSceneMonitorPtr to local solver plugin * Add local planner frequency parameter * Use PID controller to create control outputs for robot controller * Add hybrid_planning_manager config file * Add more complex test node * Update README * Reset index in next_waypoint_sampler * Use correct isPathValid() interface * Rename path_invalidation flag * Read planning scene instead of cloning it in local planner * Add TODO creator * Rename local constraint solver plugin * Use read-locked access to the planning scene for collision checking * Rename constraint_solver into local_constraint_solver * Add missing pointer initialization
AndyZe
pushed a commit
to AndyZe/moveit2
that referenced
this pull request
Dec 7, 2021
* Make local planner component generic * Add next_waypoint_sampler trajectory operator * Update hybrid planning test to include collision object * Clean up code and fix minor bugs. * Update local planner component parameter * Add local collision constraint solver * Update planning scene topic name and test node * Fix bugs and runtime errors in local planner component and it's plugins * Add collision object that invalidates global trajectory * Add simple "stop in front of collision object" demo * Add hybrid planning manager reaction to local planner feedback * Fix ament_lint_cmake * Ensure that local planner start command and collision event are send once * Add simple replanning logic plugin * Use current state as start state for global planner * Use RobotTrajectory instead of constraint vector describe local problem * Add PlanningSceneMonitorPtr to local solver plugin * Add local planner frequency parameter * Use PID controller to create control outputs for robot controller * Add hybrid_planning_manager config file * Add more complex test node * Update README * Reset index in next_waypoint_sampler * Use correct isPathValid() interface * Rename path_invalidation flag * Read planning scene instead of cloning it in local planner * Add TODO creator * Rename local constraint solver plugin * Use read-locked access to the planning scene for collision checking * Rename constraint_solver into local_constraint_solver * Add missing pointer initialization
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Description
Refines the local planner component and makes it generic. Therefore, the behavior of the local planner component will be defined by two plugins. One to identify the local problem each loop run and to manage the reference trajectory (trajectory matching and blending) and a second plugin to implement the local constraint solver.
Checklist