Add time factor support for trajectory time parametrization#547
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Should this really have changed? Seems this might be affecting something else?
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I'll revert and test this. It appears a bit weird that the number of planning attempts is set in a QDoubleSpinBox. This should be a plain (integer) SpinBox. Maybe fodder for another (unrelated) Pull Request.
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Great job with this! I implemented a similar feature just a few weeks ago, but only in moveit_core. This is much needed. I'm not sure I like the term "motion_execution_time_factor", isn't it more a "motion_execution_velocity_factor" ? In my version I just named it 'velocity_scale'. I'm also curious what we should do about the max acceleration limits - should it also be scaled? The same amount? This might be naive question, I haven't looked into it much though. |
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Could you add a quick screenshot of the UI change? |
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Hold on merging this until the moveit_msgs release makes it through the pipeline |
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@davetcoleman Here's a screenshot of the UI change. I think it makes the motion planning widget a little bit larger. |
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That's what I was afraid of... the UI is already too wide IMHO. Can we name it something shorter like Velocity Scale? |
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I think it only got higher, not wider. Will make a tad shorter as suggested nevertheless. |
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Changed label from "Execution Time Factor:" to "Velocity Scaling:": |
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moveit_msgs is in shadow-fixed http://www.ros.org/debbuild/indigo.html?q=moveit_msgs |
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I have confirmed it slows down trajectories when displayed in REALTIME in the motion planning rviz plugin. |
…uest Add time factor support for trajectory time parametrization
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Thanks for merging -- I'll push new releases shortly |
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Released new moveit_core in order to get this building again. |
This adds support for setting a motion_execution_time_factor in the MotionPlanRequest msg, which can be used to scale the velocity bounds in add_time_parametrization.
Includes necessary changes to
Requires other pulls requests in moveit_msgs and moveit_core which are stated below.