Merge pull request #28 from ros-planning/pr-path-constraints

implement path constraints
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Robert Haschke 2018-03-26 09:54:02 +02:00 committed by GitHub
commit 205beea503
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11 changed files with 73 additions and 24 deletions

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@ -55,15 +55,17 @@ public:
bool plan(const planning_scene::PlanningSceneConstPtr from, bool plan(const planning_scene::PlanningSceneConstPtr from,
const planning_scene::PlanningSceneConstPtr to, const planning_scene::PlanningSceneConstPtr to,
const moveit::core::JointModelGroup *jmg, const moveit::core::JointModelGroup *jmg,
double timeout, double timeout,
robot_trajectory::RobotTrajectoryPtr& result) override; robot_trajectory::RobotTrajectoryPtr& result,
const moveit_msgs::Constraints& path_constraints = moveit_msgs::Constraints()) override;
bool plan(const planning_scene::PlanningSceneConstPtr from, bool plan(const planning_scene::PlanningSceneConstPtr from,
const moveit::core::LinkModel &link, const moveit::core::LinkModel &link,
const Eigen::Affine3d& target, const Eigen::Affine3d& target,
const moveit::core::JointModelGroup *jmg, const moveit::core::JointModelGroup *jmg,
double timeout, double timeout,
robot_trajectory::RobotTrajectoryPtr& result) override; robot_trajectory::RobotTrajectoryPtr& result,
const moveit_msgs::Constraints& path_constraints = moveit_msgs::Constraints()) override;
}; };
} } } } } }

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@ -62,14 +62,16 @@ public:
const planning_scene::PlanningSceneConstPtr to, const planning_scene::PlanningSceneConstPtr to,
const core::JointModelGroup *jmg, const core::JointModelGroup *jmg,
double timeout, double timeout,
robot_trajectory::RobotTrajectoryPtr& result) override; robot_trajectory::RobotTrajectoryPtr& result,
const moveit_msgs::Constraints& path_constraints= moveit_msgs::Constraints()) override;
bool plan(const planning_scene::PlanningSceneConstPtr from, bool plan(const planning_scene::PlanningSceneConstPtr from,
const moveit::core::LinkModel &link, const moveit::core::LinkModel &link,
const Eigen::Affine3d& target, const Eigen::Affine3d& target,
const core::JointModelGroup *jmg, const core::JointModelGroup *jmg,
double timeout, double timeout,
robot_trajectory::RobotTrajectoryPtr& result) override; robot_trajectory::RobotTrajectoryPtr& result,
const moveit_msgs::Constraints& path_constraints= moveit_msgs::Constraints()) override;
protected: protected:
planning_pipeline::PlanningPipelinePtr planner_; planning_pipeline::PlanningPipelinePtr planner_;

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@ -39,6 +39,7 @@
#pragma once #pragma once
#include <moveit/macros/class_forward.h> #include <moveit/macros/class_forward.h>
#include <moveit_msgs/Constraints.h>
#include <moveit/task_constructor/properties.h> #include <moveit/task_constructor/properties.h>
#include <Eigen/Geometry> #include <Eigen/Geometry>
@ -77,16 +78,18 @@ public:
virtual bool plan(const planning_scene::PlanningSceneConstPtr from, virtual bool plan(const planning_scene::PlanningSceneConstPtr from,
const planning_scene::PlanningSceneConstPtr to, const planning_scene::PlanningSceneConstPtr to,
const moveit::core::JointModelGroup *jmg, const moveit::core::JointModelGroup *jmg,
double timeout, double timeout,
robot_trajectory::RobotTrajectoryPtr& result) = 0; robot_trajectory::RobotTrajectoryPtr& result,
const moveit_msgs::Constraints& path_constraints = moveit_msgs::Constraints()) = 0;
/// plan trajectory from current robot state to Cartesian target /// plan trajectory from current robot state to Cartesian target
virtual bool plan(const planning_scene::PlanningSceneConstPtr from, virtual bool plan(const planning_scene::PlanningSceneConstPtr from,
const moveit::core::LinkModel &link, const moveit::core::LinkModel &link,
const Eigen::Affine3d& target, const Eigen::Affine3d& target,
const moveit::core::JointModelGroup *jmg, const moveit::core::JointModelGroup *jmg,
double timeout, double timeout,
robot_trajectory::RobotTrajectoryPtr& result) = 0; robot_trajectory::RobotTrajectoryPtr& result,
const moveit_msgs::Constraints& path_constraints = moveit_msgs::Constraints()) = 0;
}; };
std::string getEndEffectorLink(const moveit::core::JointModelGroup *jmg); std::string getEndEffectorLink(const moveit::core::JointModelGroup *jmg);

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@ -41,12 +41,22 @@
#include <moveit/task_constructor/stage.h> #include <moveit/task_constructor/stage.h>
#include <moveit/task_constructor/solvers/planner_interface.h> #include <moveit/task_constructor/solvers/planner_interface.h>
#include <moveit_msgs/Constraints.h>
namespace moveit { namespace task_constructor { namespace stages { namespace moveit { namespace task_constructor { namespace stages {
class Connect : public Connecting { class Connect : public Connecting {
public: public:
Connect(std::string name, const solvers::PlannerInterfacePtr &planner); Connect(std::string name, const solvers::PlannerInterfacePtr &planner);
void setTimeout(const ros::Duration& timeout){
setProperty("timeout", timeout.toSec());
}
void setPathConstraints(moveit_msgs::Constraints path_constraints){
setProperty("path_constraints", std::move(path_constraints));
}
void init(const moveit::core::RobotModelConstPtr& robot_model); void init(const moveit::core::RobotModelConstPtr& robot_model);
bool compute(const InterfaceState &from, const InterfaceState &to); bool compute(const InterfaceState &from, const InterfaceState &to);

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@ -40,6 +40,7 @@
#include <moveit/task_constructor/stage.h> #include <moveit/task_constructor/stage.h>
#include <moveit/task_constructor/solvers/planner_interface.h> #include <moveit/task_constructor/solvers/planner_interface.h>
#include <moveit_msgs/Constraints.h>
#include <geometry_msgs/TwistStamped.h> #include <geometry_msgs/TwistStamped.h>
#include <geometry_msgs/Vector3Stamped.h> #include <geometry_msgs/Vector3Stamped.h>
@ -62,6 +63,10 @@ public:
void setMaxDistance(double distance); void setMaxDistance(double distance);
void setMinMaxDistance(double min_distance, double max_distance); void setMinMaxDistance(double min_distance, double max_distance);
void setPathConstraints(moveit_msgs::Constraints path_constraints){
setProperty("path_constraints", std::move(path_constraints));
}
/// perform twist motion on specified link /// perform twist motion on specified link
void along(const geometry_msgs::TwistStamped& twist); void along(const geometry_msgs::TwistStamped& twist);
/// translate link along given direction /// translate link along given direction

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@ -40,6 +40,7 @@
#include <moveit/task_constructor/stage.h> #include <moveit/task_constructor/stage.h>
#include <moveit/task_constructor/solvers/planner_interface.h> #include <moveit/task_constructor/solvers/planner_interface.h>
#include <moveit_msgs/Constraints.h>
#include <geometry_msgs/PoseStamped.h> #include <geometry_msgs/PoseStamped.h>
#include <geometry_msgs/PointStamped.h> #include <geometry_msgs/PointStamped.h>
@ -63,6 +64,10 @@ public:
/// move joint model group to given named pose /// move joint model group to given named pose
void setGoal(const std::string& joint_pose); void setGoal(const std::string& joint_pose);
void setPathConstraints(moveit_msgs::Constraints path_constraints){
setProperty("path_constraints", std::move(path_constraints));
}
protected: protected:
bool compute(const InterfaceState& state, planning_scene::PlanningScenePtr &scene, bool compute(const InterfaceState& state, planning_scene::PlanningScenePtr &scene,
SubTrajectory &trajectory, Direction dir); SubTrajectory &trajectory, Direction dir);

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@ -59,8 +59,9 @@ void CartesianPath::init(const core::RobotModelConstPtr &robot_model)
bool CartesianPath::plan(const planning_scene::PlanningSceneConstPtr from, bool CartesianPath::plan(const planning_scene::PlanningSceneConstPtr from,
const planning_scene::PlanningSceneConstPtr to, const planning_scene::PlanningSceneConstPtr to,
const moveit::core::JointModelGroup *jmg, const moveit::core::JointModelGroup *jmg,
double timeout, double timeout,
robot_trajectory::RobotTrajectoryPtr& result) robot_trajectory::RobotTrajectoryPtr& result,
const moveit_msgs::Constraints& path_constraints)
{ {
const moveit::core::LinkModel* link; const moveit::core::LinkModel* link;
const std::string& link_name = solvers::getEndEffectorLink(jmg); const std::string& link_name = solvers::getEndEffectorLink(jmg);
@ -70,25 +71,31 @@ bool CartesianPath::plan(const planning_scene::PlanningSceneConstPtr from,
} }
// reach pose of forward kinematics // reach pose of forward kinematics
return plan(from, *link, to->getCurrentState().getGlobalLinkTransform(link), jmg, timeout, result); return plan(from, *link, to->getCurrentState().getGlobalLinkTransform(link),
jmg, timeout, result, path_constraints);
} }
bool CartesianPath::plan(const planning_scene::PlanningSceneConstPtr from, bool CartesianPath::plan(const planning_scene::PlanningSceneConstPtr from,
const moveit::core::LinkModel &link, const moveit::core::LinkModel &link,
const Eigen::Affine3d &target, const Eigen::Affine3d &target,
const moveit::core::JointModelGroup *jmg, const moveit::core::JointModelGroup *jmg,
double timeout, double timeout,
robot_trajectory::RobotTrajectoryPtr &result) robot_trajectory::RobotTrajectoryPtr &result,
const moveit_msgs::Constraints& path_constraints)
{ {
const auto& props = properties(); const auto& props = properties();
planning_scene::PlanningScenePtr sandbox_scene = from->diff(); planning_scene::PlanningScenePtr sandbox_scene = from->diff();
auto isValid = [&sandbox_scene](moveit::core::RobotState* state, kinematic_constraints::KinematicConstraintSet kcs(sandbox_scene->getRobotModel());
kcs.add(path_constraints, sandbox_scene->getTransforms());
auto isValid = [&sandbox_scene, &kcs](moveit::core::RobotState* state,
const moveit::core::JointModelGroup* jmg, const moveit::core::JointModelGroup* jmg,
const double* joint_positions) { const double* joint_positions) {
state->setJointGroupPositions(jmg, joint_positions); state->setJointGroupPositions(jmg, joint_positions);
state->update(); state->update();
return !sandbox_scene->isStateColliding(const_cast<const robot_state::RobotState&>(*state), jmg->getName()); return !sandbox_scene->isStateColliding(const_cast<const robot_state::RobotState&>(*state), jmg->getName())
&& kcs.decide(*state).satisfied;
}; };
std::vector<moveit::core::RobotStatePtr> trajectory; std::vector<moveit::core::RobotStatePtr> trajectory;

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@ -85,7 +85,8 @@ bool PipelinePlanner::plan(const planning_scene::PlanningSceneConstPtr from,
const planning_scene::PlanningSceneConstPtr to, const planning_scene::PlanningSceneConstPtr to,
const moveit::core::JointModelGroup *jmg, const moveit::core::JointModelGroup *jmg,
double timeout, double timeout,
robot_trajectory::RobotTrajectoryPtr& result) robot_trajectory::RobotTrajectoryPtr& result,
const moveit_msgs::Constraints& path_constraints)
{ {
const auto& props = properties(); const auto& props = properties();
moveit_msgs::MotionPlanRequest req; moveit_msgs::MotionPlanRequest req;
@ -95,6 +96,7 @@ bool PipelinePlanner::plan(const planning_scene::PlanningSceneConstPtr from,
req.goal_constraints[0] = kinematic_constraints::constructGoalConstraints( req.goal_constraints[0] = kinematic_constraints::constructGoalConstraints(
to->getCurrentState(), jmg, to->getCurrentState(), jmg,
props.get<double>("goal_joint_tolerance")); props.get<double>("goal_joint_tolerance"));
req.path_constraints = path_constraints;
::planning_interface::MotionPlanResponse res; ::planning_interface::MotionPlanResponse res;
if(!planner_->generatePlan(from, req, res)) if(!planner_->generatePlan(from, req, res))
@ -109,8 +111,8 @@ bool PipelinePlanner::plan(const planning_scene::PlanningSceneConstPtr from,
const Eigen::Affine3d& target_eigen, const Eigen::Affine3d& target_eigen,
const moveit::core::JointModelGroup *jmg, const moveit::core::JointModelGroup *jmg,
double timeout, double timeout,
robot_trajectory::RobotTrajectoryPtr& result) robot_trajectory::RobotTrajectoryPtr& result,
const moveit_msgs::Constraints& path_constraints)
{ {
const auto& props = properties(); const auto& props = properties();
moveit_msgs::MotionPlanRequest req; moveit_msgs::MotionPlanRequest req;
@ -125,6 +127,7 @@ bool PipelinePlanner::plan(const planning_scene::PlanningSceneConstPtr from,
link.getName(), target, link.getName(), target,
props.get<double>("goal_position_tolerance"), props.get<double>("goal_position_tolerance"),
props.get<double>("goal_orientation_tolerance")); props.get<double>("goal_orientation_tolerance"));
req.path_constraints = path_constraints;
::planning_interface::MotionPlanResponse res; ::planning_interface::MotionPlanResponse res;
if(!planner_->generatePlan(from, req, res)) if(!planner_->generatePlan(from, req, res))

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@ -48,6 +48,8 @@ Connect::Connect(std::string name, const solvers::PlannerInterfacePtr& planner)
auto& p = properties(); auto& p = properties();
p.declare<double>("timeout", 10.0, "planning timeout"); p.declare<double>("timeout", 10.0, "planning timeout");
p.declare<std::string>("group", "name of planning group"); p.declare<std::string>("group", "name of planning group");
p.declare<moveit_msgs::Constraints>("path_constraints", moveit_msgs::Constraints(),
"constraints to maintain during trajectory");
} }
void Connect::init(const core::RobotModelConstPtr& robot_model) void Connect::init(const core::RobotModelConstPtr& robot_model)
@ -63,7 +65,8 @@ bool Connect::compute(const InterfaceState &from, const InterfaceState &to) {
const moveit::core::JointModelGroup* jmg = from.scene()->getRobotModel()->getJointModelGroup(group); const moveit::core::JointModelGroup* jmg = from.scene()->getRobotModel()->getJointModelGroup(group);
robot_trajectory::RobotTrajectoryPtr trajectory; robot_trajectory::RobotTrajectoryPtr trajectory;
if (!planner_->plan(from.scene(), to.scene(), jmg, timeout, trajectory)) if (!planner_->plan(from.scene(), to.scene(), jmg, timeout, trajectory,
props.get<moveit_msgs::Constraints>("path_constraints")))
return false; return false;
connect(from, to, trajectory); connect(from, to, trajectory);

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@ -57,6 +57,9 @@ MoveRelative::MoveRelative(std::string name, const solvers::PlannerInterfacePtr&
p.declare<geometry_msgs::TwistStamped>("twist", "Cartesian twist transform"); p.declare<geometry_msgs::TwistStamped>("twist", "Cartesian twist transform");
p.declare<geometry_msgs::Vector3Stamped>("direction", "Cartesian translation direction"); p.declare<geometry_msgs::Vector3Stamped>("direction", "Cartesian translation direction");
p.declare<moveit_msgs::Constraints>("path_constraints", moveit_msgs::Constraints(),
"constraints to maintain during trajectory");
} }
void MoveRelative::setGroup(const std::string& group){ void MoveRelative::setGroup(const std::string& group){
@ -204,7 +207,8 @@ bool MoveRelative::compute(const InterfaceState &state, planning_scene::Planning
} }
robot_trajectory::RobotTrajectoryPtr robot_trajectory; robot_trajectory::RobotTrajectoryPtr robot_trajectory;
bool success = planner_->plan(state.scene(), *link, target_eigen, jmg, timeout, robot_trajectory); bool success = planner_->plan(state.scene(), *link, target_eigen, jmg, timeout, robot_trajectory,
props.get<moveit_msgs::Constraints>("path_constraints"));
// min_distance reached? // min_distance reached?
if (success && min_distance > 0.0) { if (success && min_distance > 0.0) {

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@ -55,6 +55,9 @@ MoveTo::MoveTo(std::string name, const solvers::PlannerInterfacePtr& planner)
p.declare<geometry_msgs::PoseStamped>("pose", "Cartesian target pose"); p.declare<geometry_msgs::PoseStamped>("pose", "Cartesian target pose");
p.declare<geometry_msgs::PointStamped>("point", "Cartesian target point"); p.declare<geometry_msgs::PointStamped>("point", "Cartesian target point");
p.declare<std::string>("joint_pose", "named joint pose"); p.declare<std::string>("joint_pose", "named joint pose");
p.declare<moveit_msgs::Constraints>("path_constraints", moveit_msgs::Constraints(),
"constraints to maintain during trajectory");
} }
void MoveTo::setGroup(const std::string& group){ void MoveTo::setGroup(const std::string& group){
@ -108,6 +111,8 @@ bool MoveTo::compute(const InterfaceState &state, planning_scene::PlanningSceneP
return false; return false;
} }
const auto& path_constraints = props.get<moveit_msgs::Constraints>("path_constraints");
robot_trajectory::RobotTrajectoryPtr robot_trajectory; robot_trajectory::RobotTrajectoryPtr robot_trajectory;
bool success = false; bool success = false;
@ -118,7 +123,7 @@ bool MoveTo::compute(const InterfaceState &state, planning_scene::PlanningSceneP
ROS_WARN("MoveTo: unknown joint pose '%s' for jmg '%s'", named_joint_pose.c_str(), group.c_str()); ROS_WARN("MoveTo: unknown joint pose '%s' for jmg '%s'", named_joint_pose.c_str(), group.c_str());
return false; return false;
} }
success = planner_->plan(state.scene(), scene, jmg, timeout, robot_trajectory); success = planner_->plan(state.scene(), scene, jmg, timeout, robot_trajectory, path_constraints);
} else { } else {
// Cartesian targets require the link name // Cartesian targets require the link name
std::string link_name = props.get<std::string>("link"); std::string link_name = props.get<std::string>("link");
@ -167,7 +172,7 @@ bool MoveTo::compute(const InterfaceState &state, planning_scene::PlanningSceneP
tf::poseEigenToMsg(target_eigen, pose_msg.pose); tf::poseEigenToMsg(target_eigen, pose_msg.pose);
rviz_marker_tools::appendFrame(solution.markers(), pose_msg, 0.1, "ik frame"); rviz_marker_tools::appendFrame(solution.markers(), pose_msg, 0.1, "ik frame");
success = planner_->plan(state.scene(), *link, target_eigen, jmg, timeout, robot_trajectory); success = planner_->plan(state.scene(), *link, target_eigen, jmg, timeout, robot_trajectory, path_constraints);
} }
// store result // store result