Add tutorial for How to Use OMPL Constrained Planning#386
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AndyZe merged 7 commits intomoveit:mainfrom Jun 29, 2022
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Add tutorial for How to Use OMPL Constrained Planning#386AndyZe merged 7 commits intomoveit:mainfrom
AndyZe merged 7 commits intomoveit:mainfrom
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AndyZe
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The position constraints generally work great! I have not gotten a successful plan with the orientation constraints yet, though
doc/how_to_guides/ompl_constrained_planning/ompl_constrained_planning.rst
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Just as I post that, I see a successful plan with the orientation constraint. So it is possible ;) |
AndyZe
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doc/how_to_guides/ompl_constrained_planning/ompl_constrained_planning.rst
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doc/how_to_guides/ompl_constrained_planning/src/ompl_constrained_planning_tutorial.cpp
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doc/how_to_guides/ompl_constrained_planning/src/ompl_constrained_planning_tutorial.cpp
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This pull request is in conflict. Could you fix it @stephanie-eng? |
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Nice tutorial! I like the second part a lot that highlights the details between the constraint types
I had issues running it because when I launched the tutorial I got this error:
[ERROR] [ros2_control_node-6]: process has died [pid 211888, exit code -11, cmd '/root/ws_moveit/install/controller_manager/lib/controller_manager/ros2_control_node --ros-args --params-file /tmp/launch_params_r4wggd5i --params-file /root/ws_moveit/install/moveit_resources_panda_moveit_config/share/moveit_resources_panda_moveit_config/config/ros2_controllers.yaml'].
Do you have an idea what causes this?
doc/how_to_guides/using_ompl_constrained_planning/ompl_constrained_planning.rst
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| Using OMPL Constrained Planning | |||
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Since this is in the HOW TO section consider renaming it into How to use OMPL constrained planning?
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I had that originally, but I was thinking that if every document under How to is called "How To ..." it's a bit repetitive and redundant. I don't have a strong opinion on this, though, so happy to change if we prefer the consistency. @tylerjw do you have a preference for naming scheme in the How To section?
doc/how_to_guides/using_ompl_constrained_planning/ompl_constrained_planning.rst
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| how_to_guide | ||
| how_to_generate_api_doxygen_locally | ||
| how_to_setup_docker_containers_in_ubuntu | ||
| using_ompl_constrained_planning/ompl_constrained_planning |
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Maybe rename this to how to ...
doc/how_to_guides/using_ompl_constrained_planning/ompl_constrained_planning.rst
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This pull request is in conflict. Could you fix it @stephanie-eng? |
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* Add tutorial for How to Use OMPL Constrained Planning * Reorganize code, port comments from original, use equality constraints * Update tutorial text and media, reorganize files, and clean up * Update .repos file for RViz Visual Tools * Remove outdated video link * Add description and links for projection evaluator Co-authored-by: AndyZe <zelenak@picknik.ai> (cherry picked from commit 2db5773) # Conflicts: # .github/upstream.repos # CMakeLists.txt # moveit2_tutorials.repos
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* Add tutorial for How to Use OMPL Constrained Planning * Reorganize code, port comments from original, use equality constraints * Update tutorial text and media, reorganize files, and clean up * Update .repos file for RViz Visual Tools * Remove outdated video link * Add description and links for projection evaluator Co-authored-by: AndyZe <zelenak@picknik.ai> (cherry picked from commit 2db5773)
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* Add tutorial for How to Use OMPL Constrained Planning * Reorganize code, port comments from original, use equality constraints * Update tutorial text and media, reorganize files, and clean up * Update .repos file for RViz Visual Tools * Remove outdated video link * Add description and links for projection evaluator Co-authored-by: AndyZe <zelenak@picknik.ai> (cherry picked from commit 2db5773)
stephanie-eng
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May 12, 2023
* Add tutorial for How to Use OMPL Constrained Planning * Reorganize code, port comments from original, use equality constraints * Update tutorial text and media, reorganize files, and clean up * Update .repos file for RViz Visual Tools * Remove outdated video link * Add description and links for projection evaluator Co-authored-by: AndyZe <zelenak@picknik.ai> (cherry picked from commit 2db5773)
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* Add tutorial for How to Use OMPL Constrained Planning * Reorganize code, port comments from original, use equality constraints * Update tutorial text and media, reorganize files, and clean up * Update .repos file for RViz Visual Tools * Remove outdated video link * Add description and links for projection evaluator Co-authored-by: AndyZe <zelenak@picknik.ai> (cherry picked from commit 2db5773)
stephanie-eng
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May 12, 2023
* Add tutorial for How to Use OMPL Constrained Planning * Reorganize code, port comments from original, use equality constraints * Update tutorial text and media, reorganize files, and clean up * Update .repos file for RViz Visual Tools * Remove outdated video link * Add description and links for projection evaluator Co-authored-by: AndyZe <zelenak@picknik.ai> (cherry picked from commit 2db5773)
stephanie-eng
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May 12, 2023
* Add tutorial for How to Use OMPL Constrained Planning * Reorganize code, port comments from original, use equality constraints * Update tutorial text and media, reorganize files, and clean up * Update .repos file for RViz Visual Tools * Remove outdated video link * Add description and links for projection evaluator Co-authored-by: AndyZe <zelenak@picknik.ai> (cherry picked from commit 2db5773) Co-authored-by: Stephanie Eng <stephanie-eng@users.noreply.github.com>
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Description
Update tutorial for OMPL Constrained Planning. This PR both ports the existing tutorial to MoveIt2 and adds a new section for OMPL orientation constraints (depends on moveit/moveit2#1273).
Also depends on PickNikRobotics/rviz_visual_tools#221 for a helper method for drawing a plane.
Tasks:
To launch the example:
ros2 launch moveit2_tutorials ompl_constrained_planning_tutorial.launch.py