[Hybrid Planning] WIP: Address review by sjahr · Pull Request #718 · moveit/moveit2

sjahr · 2021-10-03T11:21:55Z

Description

Address reviews of #488

Co-authored-by: AndyZe <zelenak@picknik.ai>

Co-authored-by: Henning Kayser <henningkayser@picknik.ai>

* Use transpose of rotation matrix in collision_distance_field_types * Add comment Co-authored-by: Henning Kayser <henningkayser@picknik.ai>

tylerjw · 2021-10-05T18:05:49Z

moveit_ros/hybrid_planning/CMakeLists.txt

+# Install libraries
+install(TARGETS ${LIBRARIES}
+  EXPORT export_${PROJECT_NAME}
  ARCHIVE DESTINATION lib
  LIBRARY DESTINATION lib
-  RUNTIME DESTINATION lib/${PROJECT_NAME}
+  RUNTIME DESTINATION bin
  INCLUDES DESTINATION include)

+# Install binary
+install(TARGETS hybrid_planning_test_node
+  ARCHIVE DESTINATION lib
+  LIBRARY DESTINATION lib
+  RUNTIME DESTINATION bin
+  DESTINATION lib/${PROJECT_NAME}
+)
+


You can convert this into one install command like this (@JafarAbdi showed me this):

install( TARGETS ${LIBRARIES} hybrid_planning_test_node EXPORT ${PROJECT_NAME}Targets ARCHIVE DESTINATION lib LIBRARY DESTINATION lib RUNTIME DESTINATION lib/${PROJECT_NAME} INCLUDES DESTINATION include )

tylerjw · 2021-10-05T18:06:38Z

moveit_ros/hybrid_planning/CMakeLists.txt

 install(DIRECTORY test/config DESTINATION share/${PROJECT_NAME})

+ament_export_include_directories(include)
+ament_export_libraries(export_${PROJECT_NAME})


Suggested change

ament_export_libraries(export_${PROJECT_NAME})

ament_export_libraries(${PROJECT_NAME}Targets)

@JafarAbdi pointed out to me that this naming convention is more standard cmake than the export_ prefix we have been using.

tylerjw · 2021-10-05T18:07:40Z

...ros/hybrid_planning/global_planner/global_planner_component/src/global_planner_component.cpp

    else
    {
-      initialized_ = this->init();
+      initialized_ = this->initialize();


Have you tried the changes to initialize in the constructor instead of in a timer?

Signed-off-by: David V. Lu <davidvlu@gmail.com>

* Add private buffer & tf listener to PSM * Remove coupled deleter * Decouple PSM from CSM * Deprecate old constructors

…ple displays for the same node (moveit#525)

… in Servo (moveit#723) Co-authored-by: Jafar Abdi <cafer.abdi@gmail.com>

…sistant (moveit#732)

Co-authored-by: AndyZe <zelenak@picknik.ai>

AndyZe · 2021-10-14T15:43:49Z

This currently doesn't work for me. Same for you?

ros2 launch moveit_hybrid_planning hybrid_planning.launch.py

[rviz2-3] [INFO] [1634226190.040198790] [moveit_robot_model.robot_model]: Loading robot model 'panda'...
[rviz2-3] [INFO] [1634226190.377771555] [moveit_rdf_loader.rdf_loader]: Loaded robot model in 0.00141904 seconds
[rviz2-3] [INFO] [1634226190.377805126] [moveit_robot_model.robot_model]: Loading robot model 'panda'...
[rviz2-3] [ERROR] [1634226190.384232534] [moveit_background_processing.background_processing]: Exception caught while processing action 'loadRobotModel': std::bad_alloc

sjahr · 2021-10-15T14:08:40Z

This currently doesn't work for me. Same for you?

ros2 launch moveit_hybrid_planning hybrid_planning.launch.py

[rviz2-3] [INFO] [1634226190.040198790] [moveit_robot_model.robot_model]: Loading robot model 'panda'...
[rviz2-3] [INFO] [1634226190.377771555] [moveit_rdf_loader.rdf_loader]: Loaded robot model in 0.00141904 seconds
[rviz2-3] [INFO] [1634226190.377805126] [moveit_robot_model.robot_model]: Loading robot model 'panda'...
[rviz2-3] [ERROR] [1634226190.384232534] [moveit_background_processing.background_processing]: Exception caught while processing action 'loadRobotModel': std::bad_alloc

No sorry, I have not experienced this error. Could you send the whole terminal output?

sjahr · 2021-10-15T14:24:02Z

This currently doesn't work for me. Same for you?
ros2 launch moveit_hybrid_planning hybrid_planning.launch.py

[rviz2-3] [INFO] [1634226190.040198790] [moveit_robot_model.robot_model]: Loading robot model 'panda'...
[rviz2-3] [INFO] [1634226190.377771555] [moveit_rdf_loader.rdf_loader]: Loaded robot model in 0.00141904 seconds
[rviz2-3] [INFO] [1634226190.377805126] [moveit_robot_model.robot_model]: Loading robot model 'panda'...
[rviz2-3] [ERROR] [1634226190.384232534] [moveit_background_processing.background_processing]: Exception caught while processing action 'loadRobotModel': std::bad_alloc

No sorry, I have not experienced this error. Could you send the whole terminal output?

@AndyZe Just guessing: It might be related to this missing patch #734 which fixes a potential deadlock situation. Could you try to rebase on main?

Alphabetize in CMakeLists Load filter coefficient in the new plugin Do filtering in the plugin Implement 'reset' Purge the previous filter implementation Fix parameter parsing Update unit tests Clang format Code cleanup. This causes an issue with reset() -- need to look into it Do not use const for size_t Fix logic error Sync config files Alphabetize moveit_core subdirectories Move the smoothing plugin to moveit_core Bug fixes Load the plugin name from yaml Remove commented code. Rename the plugin in a generic way Minor cleanup. Delete unused file. Minor cleanup per Nathan's code review Implement a filteredHalt() function Rename the package from smoothing_plugins->online_signal_smoothing Small comments and efficiency improvement Add Butterworth plugin package export Add default constructor for SmoothingBaseClass Add missing pluginlib dependency to moveit_servo Skeleton of the smoothing plugin Load filter coefficient in the new plugin Do filtering in the plugin Implement 'reset' Purge the previous filter implementation Fix parameter parsing Clang format Code cleanup. This causes an issue with reset() -- need to look into it Do not use const for size_t Fix logic error Alphabetize moveit_core subdirectories Move the smoothing plugin to moveit_core Bug fixes Load the plugin name from yaml Remove commented code. Rename the plugin in a generic way Minor cleanup. Delete unused file. Minor cleanup per Nathan's code review Rename the package from smoothing_plugins->online_signal_smoothing Logic fixups, per Nathan Delete default constructor/destructor Post-rebase cleanup Try moving the base class to a separate library Ensure we don't pulish pos if user did not request it (& vel & accel) Try to fix CI for galactic, in particular Restore default constructor and destructor.

… file

tylerjw · 2021-10-29T18:54:57Z

Closing in favor of #763

JafarAbdi and others added 6 commits September 28, 2021 16:07

getInterfaceDescription: Fix rclcpp API breakage (moveit#686)

eec02c7

Publish singularity condition to ~/servo_server/condition (moveit#695)

e6835c2

Co-authored-by: AndyZe <zelenak@picknik.ai>

Fix cmake install in collision_detection_bullet (moveit#685)

1843da4

Co-authored-by: Henning Kayser <henningkayser@picknik.ai>

moveit_ros_control_interface: Fix dangling reference (moveit#710)

68553ff

Fix std::placeholders namespace conflict (moveit#713)

11e7cf4

Small matrix calc speedup in collision_distance_field_types (moveit#666)

bf39dca

* Use transpose of rotation matrix in collision_distance_field_types * Add comment Co-authored-by: Henning Kayser <henningkayser@picknik.ai>

sjahr force-pushed the pr-address_hp_review branch from 9763273 to 9bcf1b4 Compare October 3, 2021 11:23

Rename ServoServer to ServerNode (moveit#649)

69b59b9

henningkayser approved these changes Oct 5, 2021

View reviewed changes

tylerjw reviewed Oct 5, 2021

View reviewed changes

DLu and others added 11 commits October 6, 2021 21:35

Add debug print function to RobotTrajectory (moveit#715)

7292b9c

Signed-off-by: David V. Lu <davidvlu@gmail.com>

Make TF buffer & listener in PSM private (moveit#654)

656180d

* Add private buffer & tf listener to PSM * Remove coupled deleter * Decouple PSM from CSM * Deprecate old constructors

Add getSharedRobotModelLoader to fix race condition when having multi…

792ce15

…ple displays for the same node (moveit#525)

Support passing MoveGroup's namespace to MoveGroupInterface (moveit#533)

e1fff4d

2.3.0 (moveit#730)

26a2ab7

Disable use_intra_process_comms in servo launch files (moveit#722)

7fb375d

Use multi-threaded component container, do not use intraprocess comms…

b9f1a83

… in Servo (moveit#723) Co-authored-by: Jafar Abdi <cafer.abdi@gmail.com>

Use rclcpp::SystemDefaultsQoS in Servo (moveit#721)

c6384e9

Ported the collision updater from ros1 to ros2 in the moveit_setup_as…

b6f9e49

…sistant (moveit#732)

Add build badge for warehouse_ros_sqlite (moveit#735)

2c60aa0

Co-authored-by: AndyZe <zelenak@picknik.ai>

common_objects: getSharedRobotModelLoader fix deadlock (moveit#734)

bbcf9a0

sjahr force-pushed the pr-address_hp_review branch from 9bcf1b4 to 975fc1e Compare October 14, 2021 14:48

Fix the servo executable name (moveit#746)

56f02d6

sjahr force-pushed the pr-address_hp_review branch from 975fc1e to a371886 Compare October 19, 2021 07:17

tylerjw and others added 3 commits October 20, 2021 16:11

Update version of pre-commit action (moveit#733)

f082f0a

Disable upstream_ws cache on changes to .repos files (moveit#674)

ed63d6b

sjahr added 25 commits October 28, 2021 15:47

Rename in PlannerLogicInterface react() to processEvent()

05aa287

Rename planGlobalTrajory() to sendGlobalPlannerAction()

7dc1665

Rename init() to initialize() and don't throw when reset() fails

e19aa3f

Rename runLocalPlanner() to sendLocalPlannerAction()

6bf26dd

Update namespace moveit_hybrid_planning to moveit::hybrid_planning

a084934

Rename BasicHybridPlanningEvent to HybridPlanningEvent

1103dbb

Use multi-threaded component container

392525c

Fix formatting and shutdown test node after execution

67d41a7

Use std::make_shared instead of rclcpp::Node::make_shared

cfcd3f6

Remove param declarations, rename demo_controller file and fix launch…

541e47c

… file

Make plugin instances unique pointers

b3af027

Check if vector contains elements to avoid segfaults

4fec4a6

Add missing return false after a thrown exception

99e3617

Rename node_handle_ to node_

3e2d437

Clean up logging

775ac03

Remove floating point comparison

74e0bf6

Clean up package.xml

47ff087

Fix minor things in param yaml files

ffa262b

Add description to hybrid_planning_test node

ee74ecf

Add publish_joint_positions and publish_joint_velocities param

fdcc210

Make reset() functions noexcept

b4352ac

Rename global_planner_name_ into planner_plugin_name_

af0ac63

Rename executePlanningLoopRun into executeIteration

1fe19ad

Refactor Global and Local Planner Components into NodeClasses

5323921

Refactor Hybrid Planning Manager to integrate planning logic better

494b4db

sjahr force-pushed the pr-address_hp_review branch from 09615b8 to 494b4db Compare October 28, 2021 13:47

tylerjw closed this Oct 29, 2021

sjahr mentioned this pull request Nov 4, 2021

Hybrid Planning #763

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sjahr mentioned this pull request Nov 18, 2021

Hybrid Planning: Add review changes to feature branch and rebase #811

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[Hybrid Planning] WIP: Address review#718

[Hybrid Planning] WIP: Address review#718
sjahr wants to merge 88 commits intomoveit:feature/hybrid_planningfrom
sjahr:pr-address_hp_review

sjahr commented Oct 3, 2021 •

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	ament_export_libraries(export_${PROJECT_NAME})
	ament_export_libraries(${PROJECT_NAME}Targets)

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